CN202251727U - Precise cycloid oscillating tooth transmission reducer - Google Patents

Abstract

The utility model relates to a precise cycloid oscillating tooth transmission reducer, which includes an eccentric shaft, wherein an eccentric part of the eccentric shaft is connected with cycloid gears through a rotating arm bearing; the cycloid gears are matched with gear pins fixed on pin gear housings; the eccentric shaft is provided with a plurality of staggered eccentric positions; the cycloid gears outside the eccentric positions are divided into a group of reverse direction cycloid gears and a group of forward direction cycloid gears; teeth of different amount are arranged on the reverse direction cycloid gears and the forward direction cycloid gears; connection transmission holes are formed in the reverse direction cycloid gears and the forward direction cycloid gears; the pin gear housings are divided into static pin gear housings and output pin gear housings; the reverse direction cycloid gears are matched with the static gear pins fixed on the static pin gear housings; the forward direction cycloid gears are matched with the servo gear pins fixed on the output pin gear housings; the eccentric shaft is connected with a gearwheel; and the gearwheel is meshed with an input shaft gear. Through adopting the combined design of the primary involute planetary gear transmission and the cycloid pin gear epicyclic gear train, the precise cycloid oscillating tooth transmission reducer has the advantages of high precision, high efficiency, high rigidity, high load and long service life, and is particularly suitable for being used in heavy duty industrial robots.

Description

Accurate cycloidal active-tooth gearing speed-reducer

Technical field

The utility model relates to a kind of accurate cycloidal active-tooth gearing speed-reducer.

Background technique

Few tooth difference gearing speed-reducer mainly is divided into harmonic gear reducer, cycloidal-pin wheel retarder and Oscillating Tooth Gear Reducer retarder.Because the narrow limitation of structure, these three types of retarders are independently using with one-level separately, and velocity ratio is limited by structure, and particularly the velocity ratio of cycloidal-pin wheel retarder and Oscillating Tooth Gear Reducer retarder is usually less than 100.Under large speed ratio, for avoiding interfering, the gear pin of cycloid gear pin or oscillating tooth is done very for a short time, causes bending to fracture easily.In addition, the size of rotary arm bearing receives the influence of velocity ratio and export structure size, makes power, moment of torsion and the rigidity of retarder transmission also all be restricted, and can not adapt to the demand of heavily loaded robot to big torque, high-power, big rigidity and high-mechanic retarder.

Summary of the invention

For overcoming the above-mentioned defective of existing technology; The purpose of the utility model provides a kind of accurate cycloidal active-tooth gearing speed-reducer; Particularly a kind of accurate cycloidal active-tooth gearing speed-reducer that is applicable to heavily loaded industrial robot; The velocity ratio of this precision cycloidal active-tooth gearing speed-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: comprise eccentric pivoted arm; On eccentric pivoted arm, be provided with a plurality of axles position and a plurality of eccentric shaft position that shifts to install; The eccentric shaft position connects moving wheel through rotary arm bearing, and the axle position connects movable teeth rack through spring bearing; Moving wheel is divided into reverse cycloid wheel and two groups on shock wave dish forward, offers on reverse cycloid wheel and the shock wave dish forward to be connected driving hole; Movable teeth rack is combined by middle movable teeth rack that offers the oscillating tooth groove and two of left movable teeth racks; Forward the shock wave dish is installed between middle movable teeth rack and the left movable teeth rack; Reverse cycloid wheel is installed between fixed tray and the middle movable teeth rack; Moving wheel links to each other by passing the coupling shaft that is connected driving hole with movable teeth rack, rotates with same angular velocity; The left gear pin of expansion bearing overcoat left side gear pin cover in the oscillating tooth groove on middle movable teeth rack and the left movable teeth rack; Left side gear pin cover and left gear pin constitute that oscillating tooth matches with shock wave dish forward and are meshed with interior flank profil on exporting pin wheel housing; The two ends of the right gear pin of the right gear pin cover of overcoat are separately fixed on the continuous static pin wheel housing and fixed tray, and right gear pin cover matches with reverse cycloid wheel.

Link to each other through key between eccentric pivoted arm and the external input shaft, connect by bearing between static pin wheel housing and the output pin wheel housing, export between pin wheel housing and the left movable teeth rack, connect by spring bearing between axle position and the fixed tray by the spring bearing connection.

Reverse cycloid wheel and forward the shock wave dish respectively arrange cycloid wheel or the shock wave dish 360 degree/n that interlace for to combine in each group by a plurality of cycloid wheel and a plurality of shock wave dish, n is for arranging number.

The utility model is compared with Oscillating Tooth Gear Reducer retarder in the past through above-mentioned concrete design, owing to used the coaxial dual planetary gear of epicyclic gear train and the meshing transmission structure of two central gears, on velocity ratio, has very big advantage.Such as, cycloid in the past or Oscillating Tooth Gear Reducer retarder use 81 teeth to realize that velocity ratio is 81; The utility model utilizes coaxial dual planetary gear, and the number of teeth with being no more than this central gear can realize velocity ratio 6561.This means, realize that the used number of teeth of same gear ratios significantly reduces.As retarder velocity ratio in the past is 81, and the used number of teeth of the utility model can be reduced to 18.Same structure space, the number of teeth order of the utility model are reduced a lot and diameter can strengthen a lot; The tooth number of cycloid wheel that matches with it or shock wave dish reduces a lot, and the single teeth size of taking turns can increase a lot; Pin size and throw of eccentric also all increase a lot, and the number of the interior flank profil on gear pin and the pin wheel housing reduces a lot, and the whole processing of retarder is more prone to.This not only can improve transmission efficiency, precision, rigidity, has also improved bearing capacity and life-span.The velocity ratio of the utility model can reach 14161 even bigger.The increase of velocity ratio; Original cycloid or the transmitted power of Oscillating Tooth Gear Reducer retarder one-level transmission and the restriction of moment of torsion have been broken through; If add cycloid wheel that adopts two groups of multi-disc arranged off-centre or the engagement driving that shock wave is vitalized tooth, can improve the bearing capacity of retarder significantly.The input torque of the utility model behind cycloid wheel and gear pin engagement deceleration force amplifier, the output pin wheel housing of flank profil in output torque is directly passed to by oscillating tooth and output movement.Through eccentric pivoted arm, pivoted arm does not bear heavy output torque to output torque, and rotary arm bearing is stressed greatly to be improved thereby make, and has improved the life-span of bearing.

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 of the utility model.

Fig. 2 is the B-B sectional view of Fig. 1.

Fig. 3 is the C-C sectional view of Fig. 1.

Fig. 4 is the D-D sectional view of Fig. 1.

Fig. 5 is the E-E sectional view of Fig. 1.

Embodiment

As shown in the figure, the utility model comprises eccentric pivoted arm 1, its with external input shaft 21 between link to each other through key 22, be convenient to processing and install.Eccentric pivoted arm 1 is provided with a plurality of axles position 3 and the eccentric shaft position 2 that shifts to install, and eccentric shaft position 2 connects moving wheel through rotary arm bearing 4, and axle position 3 connects movable teeth rack through spring bearing 20; Moving wheel is divided into reverse cycloid wheel 5 and 6 liang of groups of shock wave dish forward, reverse cycloid wheel 5 and forward shock wave dish 6 are coaxial planet wheels, they have the different numbers of teeth and offer and connect driving hole 8.Because their number of teeth is different, when eccentric pivoted arm 1 forward rotates, reverse cycloid wheel 5 backward motions and forward shock wave dish 6 forward move.Movable teeth rack is combined by middle movable teeth rack that offers oscillating tooth groove 23 16 and 24 two of left movable teeth racks; Forward shock wave dish 6 is installed between middle movable teeth rack 16 and the left movable teeth rack 24; Reverse cycloid wheel 5 is installed between fixed tray 7 and the middle movable teeth rack 16; Moving wheel links to each other by passing the coupling shaft 9 that is connected driving hole 8 with movable teeth rack, rotates with same angular velocity, connects driving hole 8 and has bigger diameter than coupling shaft 9; The left gear pin 18 of expansion bearing overcoat left side gear pin cover 13 in the oscillating tooth groove 23 on middle movable teeth rack 16 and the left movable teeth rack 24; Left side gear pin cover 13 and left gear pin 18 constitute that oscillating tooths match with shock wave dish 6 forward and are meshed with interior flank profil 15 on exporting pin wheel housing 14; The profile of tooth of oscillating tooth is the cylndrical surface, and the oscillating tooth number differs 1 with the theoretical number of teeth of exporting the interior flank profil number on the pin wheel housing 14.The two ends of the right gear pin 11 of the right gear pin cover 10 of overcoat are separately fixed on continuous static pin wheel housing 12 and the fixed tray 7, and right gear pin cover 10 matches with reverse cycloid wheel 5, and promptly reverse cycloid wheel 5 is overlapped 10 with right gear pin and is meshed.Connect by bearing 17 between static pin wheel housing 12 and the output pin wheel housing 14, connect by spring bearing 19 between output pin wheel housing 14 and the left movable teeth rack 24, connect by spring bearing 25 between axle position 3 and the fixed tray 7.Reverse cycloid wheel 5 and forward shock wave dish 6 respectively arrange cycloid wheel or the shock wave dish 360 degree/n that interlace for to combine in each group by a plurality of cycloid wheel and a plurality of shock wave dish, n is for arranging number.As reverse cycloid wheel 5 and forward shock wave dish 6 can be designed to the wheels of two cycloid wheel or shock wave dish combination, each sheet cycloid wheel or shock wave dish interlace 180.Rotary arm bearing 4 adopts the single-row centripetal roller bearing of no outer ring, reverse cycloid wheel 5 and forward the bore area of shock wave dish 6 directly as raceway.When eccentric pivoted arm 1 clockwise rotates; Reverse cycloid wheel 5 also clockwise rotates; But receive the drag effect of static pin wheel housing 12 when right gear pin cover 10 is meshed on reverse cycloid wheel 5 and the static pin wheel housing 12 because of motion; Reverse cycloid wheel 5 is done and is rotated counterclockwise, and rotates because reverse cycloid wheel 5 links to each other to do in the same way through coupling shaft 9 with shock wave dish 6 forward, and feasible forward shock wave dish 6 also has with the same trend that rotates counterclockwise of reverse cycloid wheel 5; Eccentric pivoted arm 1 circles, reverse cycloid wheel 5 and forward shock wave dish 6 respectively change a tooth.Because the eccentric motion of shock wave dish 6 forward; During forward shock wave dish 6 promotes on movable teeth rack 16 and the left movable teeth rack 24 the left oscillating tooth 13 in the oscillating tooth groove 23 move along oscillating tooth groove 23; But because the quantity of the quantity of the right gear pin cover 10 that matches with reverse cycloid wheel 5 and the left oscillating tooth 13 that matches with shock wave dish 6 forward is different, forward the motion of shock wave dish 6 is clockwise rotating and the compound motion that rotates counterclockwise with reverse cycloid wheel 5 of eccentric pivoted arm 1.The result of compound motion be forward shock wave dish 6 gyratory directions and eccentric pivoted arm 1 to clockwise rotate direction consistent.Forward the left oscillating tooth on the shock wave dish 6 13 along in movable teeth rack 16 move with left movable teeth rack 24 and be meshed behind the deceleration force amplifier with interior flank profil 15 on the output pin wheel housing 14, motion and power that left oscillating tooth 13 will promote after output pin wheel housings 14 will slow down are exported away with one heart.The cylindrical of left side oscillating tooth 13 with forward be rolling friction to have reduced the frictional loss in the transmission between the shock wave dish 6.Above-described embodiment describes the preferred implementation of the accurate cycloidal active-tooth gearing speed-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 accurate cycloidal active-tooth gearing speed-reducer of the utility model.

Claims (3)

1. accurate cycloidal active-tooth gearing speed-reducer; Comprise eccentric pivoted arm; It is characterized in that on eccentric pivoted arm (1), being provided with a plurality of axles position (3) and a plurality of eccentric shaft position (2) that shifts to install; Eccentric shaft position (2) connects moving wheel through rotary arm bearing (4), and axle position (3) connect movable teeth rack through spring bearing (20); Moving wheel is divided into reverse cycloid wheel (5) and (6) two groups on shock wave dish forward, offers on reverse cycloid wheel (5) and the shock wave dish (6) forward to be connected driving hole (8); Movable teeth rack is combined by middle movable teeth rack (16) that offers oscillating tooth groove (23) and (24) two of left movable teeth racks; Forward shock wave dish (6) is installed between middle movable teeth rack (16) and the left movable teeth rack (24); Reverse cycloid wheel (5) is installed between fixed tray (7) and the middle movable teeth rack (16); Moving wheel links to each other by passing the coupling shaft (9) that is connected driving hole (8) with movable teeth rack, rotates with same angular velocity; The left gear pin (18) of expansion bearing overcoat left side gear pin cover (13) in the oscillating tooth groove (23) on middle movable teeth rack (16) and the left movable teeth rack (24); A left side gear pin cover (13) and left gear pin (18) constitute that oscillating tooth matches with shock wave dish (6) forward and are meshed with interior flank profil (15) on exporting pin wheel housing (14); The two ends of the right gear pin (11) of the right gear pin cover of overcoat (10) are separately fixed on the continuous static pin wheel housing (12) and fixed tray (7), and right gear pin cover (10) matches with reverse cycloid wheel (5).

2. accurate cycloidal active-tooth gearing speed-reducer according to claim 1; It is characterized in that linking to each other through key (22) between eccentric pivoted arm (1) and the external input shaft (21); Connect by bearing (17) between static pin wheel housing (12) and the output pin wheel housing (14); Connect by spring bearing (19) between output pin wheel housing (14) and the left movable teeth rack (24), connect by spring bearing (25) between axle position (3) and the fixed tray (7).

3. accurate cycloidal active-tooth gearing speed-reducer according to claim 1 and 2; It is characterized in that reverse cycloid wheel (5) and forward shock wave dish (6) for to combine by a plurality of cycloid wheel and a plurality of shock wave dish; Respectively arrange cycloid wheel or the shock wave dish 360 degree/n that interlace in each group, n is for arranging number.

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