CN203809616U - Single-stage hard-tooth-surface cycloid steel ball planetary speed reducer - Google Patents

Single-stage hard-tooth-surface cycloid steel ball planetary speed reducer Download PDF

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Publication number
CN203809616U
CN203809616U CN201420124577.9U CN201420124577U CN203809616U CN 203809616 U CN203809616 U CN 203809616U CN 201420124577 U CN201420124577 U CN 201420124577U CN 203809616 U CN203809616 U CN 203809616U
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China
Prior art keywords
steel ball
tooth
plate
disc
speed reducer
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CN201420124577.9U
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Chinese (zh)
Inventor
张鹏
殷爱国
张俊
张介禄
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Jiangsu Tailong Decelerator Machinery Co Ltd
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Jiangsu Tailong Decelerator Machinery Co Ltd
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Abstract

The utility model provides a single-stage hard-tooth-surface cycloid steel ball planetary speed reducer comprises a housing, an input shaft, an eccentric bushing, a steel ball group, an end cover, an end cover disc, a cross plate, a planetary disc, a central disc, an output shaft, a pre-tightening nut, a supporting bearing and a bearing end cover. The speed reducer is of a K-H-V single-stage few tooth difference planetary transmission basic structure, uses inner and outer cycloid grooves on the end face of central disc and the planetary disc as tooth profiles, uses steel balls as medium bodies to perform meshed transmission, eliminates tooth gaps through four-point contact of the steel balls and the cycloid grooves, meanwhile is provided with tooth-gap-free cross-shaped steel balls and other constant-speed mechanisms and has the advantages of being simple in structure, small in size, free of tooth gaps and high in transmission accuracy and efficiency. In addition, the inner and outer cycloid grooves of the speed reducer are formed by assembling cycloid split discs, surface heat treatment and grinding machining on the cycloid tooth surface of the split discs are facilitated, and the single-stage hard-tooth-surface cycloid steel ball planetary speed reducer has the advantages of being high in tooth surface hardness, small in heat treatment deformation, abrasion-resisting and long in service life.

Description

The hard flank of tooth cycloidal ball planet of single-stage speed reducer
Technical field
The utility model relates to a kind of highi degree of accuracy speed reduction gearing, and especially a kind of robot highi degree of accuracy speed reduction gearing also can be widely used in the fields such as accurate manufacture, aviation, automobile, instrument and apparatus simultaneously.
Background technique
In order to improve transmission accuracy and the control accuracy of robot, require robot with speed reduction gearing there is compact structure, volume is little, quality is light, velocity ratio is large, backlash is little, response is fast, efficiency high, requires speed reduction gearing can within the longer time, keep higher reciprocal positioning precision simultaneously.
Existing robot generally adopts involute planet gear speed reducer, RV speed reducer or harmonic drive with highi degree of accuracy speed reduction gearing.Involute planet gear speed reducer, owing to inevitably there is backlash, therefore needs very high gear accuracy of manufacturing could meet basic transmission accuracy requirement.Although RV speed reducer has advantages of that rigidity is large, transmission accuracy is high, because the composite structure that has adopted cycloidal-pin wheel transmission and involute planet gear transmission improves velocity ratio, therefore complex structure, manufactures and assembly precision requires very high.Meanwhile, RV speed reducer, for reducing or eliminating backlash, often needs to carry out profile modification processing, has increased manufacturing process difficulty.Harmonic drive adopts deformable flexbile gear to eliminate backlash, have very high transmission accuracy, but the shortcoming that its flexspline strength is poor, easy to wear, the life-span is short, transmission stiffness is not enough cannot overcome always.
Summary of the invention
The utility model overcomes the defect of above-mentioned existence, and the hard flank of tooth cycloidal ball planet of a kind of single-stage speed reducer is provided.This speed reducer adopts the basic structure of K-H-V type single-stage planetary drive with small teeth difference, using the inside and outside cycloid groove on spider and planetary plate end face as flank profil, using steel ball as mediator engagement driving, 4 by steel ball and cycloid groove contact and eliminate backlash, be equipped with without backlash cross steel ball constant speed unit simultaneously, have advantages of simple in structure, volume is little, zero backlash, transmission accuracy is high, efficiency is high.Meanwhile, the inside and outside cycloid groove of this speed reducer divides body disc to assemble by two cycloids, is convenient to the cycloid flank of tooth of each point of body disc to carry out surface heat processing and grinding, has advantages of that tooth face hardness is high, heat treatment deformation is little, wear-resistant, the life-span is long.
The utility model adopts following technological scheme: the hard flank of tooth cycloidal ball planet of a kind of single-stage speed reducer, comprise casing, input shaft, eccentric bushing, steel ball group, end cap, cross plate, planetary plate, spider and output shaft, it is characterized in that: the described input shaft interference fit cross-under eccentric bushing that is connected, eccentric bushing is by rotary arm bearing cross-under planetary plate, output shaft is connected by set screws and spider, planetary plate, spider and steel ball group composition Cycloid Steel Ball Planetary Transmission mechanism; Described end cap is connected end cap disk (27) and casing by set screws, cross plate is connected on input shaft and cross plate floats is arranged between planetary plate and end cap disk, cross plate, planetary plate and steel ball group, and cross plate, end cap disk and steel ball group composition cross steel ball constant speed driving mechanism.
Further, described planetary plate left side is by interference fit and Cock screw group be connected epicycloid outside disc and epicycloid inner disc, and the flank profil on epicycloid outside disc inner edge and in epicycloid inner disc outer rim is combined into the epicycloid groove of tapered cross-section; Described spider right side is by interference fit and Cock screw group be connected hypocycloid outside disc and hypocycloid inner disc, and the flank profil on hypocycloid outside disc inner edge and in hypocycloid inner disc outer rim is combined into the hypocycloid groove of tapered cross-section; The movable steel ball group of installing between inside and outside cycloid groove.
Further, described planetary plate right side is processed with the horizontal slot of one group of tapered cross-section, and cross plate left side is also processed with the horizontal slot of one group of tapered cross-section, and movable steel ball group is installed between two groups of horizontal slots; Described end cap disk left side is processed with the vertical groove of one group of tapered cross-section, and cross plate right side is also processed with the vertical groove of one group of tapered cross-section, and movable steel ball group is also installed between two groups of vertical groove.
Further, the right block bearing of described input shaft adopts Internal and external cycle axial restraint mode, and the left block bearing of input shaft adopts inner ring axial restraint, outer ring play mode.
Again further, described casing left end endoporus is processed with screw thread, is screwed into the fixing left block bearing of output shaft of pre-load nut, between pre-load nut and casing, lock washer is installed.
Adopt after above technological scheme, the beneficial effect that the utility model reaches is:
(1) inside and outside cycloid groove is that four point gearing contact with steel ball, and horizontal slot, vertical groove are also that four point gearing contact with steel ball, in the time of the reciprocal clockwise and anticlockwise work of speed reducer, all can ensure without backlash, can realize very high transmission accuracy, be less than ± 3arcmin of return difference.Meanwhile, the mediator using movable steel ball as engagement driving, change sliding friction is rolling friction, has greatly improved transmission efficiency, peak efficiency is greater than 90%.
(2) planetary plate, cross plate, end cap disk, by horizontal slot, vertical groove, steel ball, form without backlash cross steel ball constant speed unit, and in this mechanism, ball size is not subject to the impact of throw of eccentric size, and bearing capacity is stronger.Meanwhile, the input end by this arrangement of mechanism at speed reducer, makes cross plate, planetary plate all do translation, has effectively reduced eccentric geostrophic unbalance inertia force.
(3) the inside and outside cycloid groove on planetary plate and spider end face divides body disc to assemble by two cycloids, cycloid divide on body disc inner edge and outer rim on the cycloid flank of tooth be convenient to carry out surface heat processing and grinding, tooth face hardness can reach 50~60HRC, and flank of tooth heat treatment deformation is little, wear-resistant, the life-span is long.
(4) casing left end endoporus is processed with screw thread, is screwed into pre-load nut promotion shafting components and moves, and can eliminate backlash residual while just assembling, ensures transmission accuracy.Meanwhile, between pre-load nut and casing, lock washer is installed, prevents that pre-load nut from producing loosening.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is A-A sectional drawing of Fig. 1;
Fig. 3 is Fig. 1's - sectional drawing;
Fig. 4 is B-B sectional drawing of Fig. 1;
Fig. 5 is C-C sectional drawing of Fig. 1.
In Fig. 1~Fig. 5: 1-right bearing end cap; 2-circlip for shaft; 3-felt collar oil sealing; 4-input shaft; The right block bearing of 5-input shaft; 6-eccentric bushing; 7-end cap; 8-set screws; 9-cross plate; 10-rotary arm bearing; 11-epicycloid outside disc; 12-hypocycloid outside disc; 13-set screws; The left block bearing of 14-input shaft; The left block bearing of 15-output shaft; 16-lock washer; 17-output shaft; 18-felt collar oil sealing; 19-left bearing end cap; 20-pre-load nut; The right block bearing of 21-output shaft; 22-circlip for shaft; 23-spider; 24-hypocycloid inner disc; 25-epicycloid inner disc; 26-planetary plate; 27-end cap disk; 28-equilibrium block; 29-casing; 30-Cock screw group; 31-Cock screw group; 32-steel ball group; 33-Cock screw group; 34-Cock screw group; 35-steel ball group; 36-set screws; 37-steel ball group.
Embodiment
Accompanying drawing discloses a kind of embodiment's of the utility model concrete structure without limitation, and below in conjunction with accompanying drawing, the utility model will be further described.
Shown in Fig. 1~5, the hard flank of tooth cycloidal ball planet of single-stage speed reducer comprises right bearing end cap 1, circlip for shaft 2, felt collar oil sealing 3, input shaft 4, the right block bearing 5 of input shaft, eccentric bushing 6, end cap 7, set screws 8, cross plate 9, rotary arm bearing 10, epicycloid outside disc 11, hypocycloid outside disc 12, set screws 13, the left block bearing 15 of left block bearing 14 output shaft of input shaft, lock washer 16, output shaft 17, felt collar oil sealing 18, left bearing end cap 19, pre-load nut 20, the right block bearing 21 of output shaft, circlip for shaft 22, spider 23, hypocycloid inner disc 24, epicycloid inner disc 25, planetary plate 26, end cap disk 27, equilibrium block 28, casing 29, Cock screw group 30, Cock screw group 31, steel ball group 32, Cock screw group 33, Cock screw group 34, steel ball group 35, set screws 36, steel ball group 37.
Power is inputted by input shaft 4, and because input shaft is connected by interference fit and eccentric bushing 6, therefore input shaft drives eccentric bushing rotation together, and drives planetary plate 26 to move by the rotary arm bearing 10 on eccentric bushing.Horizontal slot on steel ball group 35,37 and the left and right end face of cross plate 9, vertical groove form cross steel ball constant speed unit, and planetary plate is connected with end cap disk 27 by cross steel ball constant speed unit.Because end cap disk is fixed on casing 29 by end cap 7, therefore the spinning motion of planetary plate is retrained by cross steel ball constant speed unit, and planetary plate only transfers to translation certainly with input shaft.Meanwhile, the epicycloid groove on planetary plate left side, by the hypocycloid groove engagement driving on steel ball group 32 and spider 23 right sides, slowly runs thereby promote spider.Spider is connected by set screws 13 and output shaft 17, and power is exported by output shaft.
In this example, casing left end endoporus is processed with screw thread, is screwed into pre-load nut 20 and promotes shafting components and move axially, and can eliminate the backlash between cycloid groove and steel ball group 32, and backlash between horizontal slot, vertical groove and steel ball group 35,37, ensures transmission accuracy.Meanwhile, lock washer 16 is installed between pre-load nut and casing, is prevented that pre-load nut from producing loosening.Input shaft adopts an input shaft left side, right block bearing 14, 5 are supported on respectively on output shaft 17 and end cap 7, input shaft right-hand member coordinates circlip for shaft 2 fixing on felt collar oil sealing 3 cross-under right bearing end caps 1, left block bearing 14 is connected on input shaft and in the supporting of moving about of output shaft right-hand member inner chamber through circlip for shaft 22, output shaft 17 is through the left block bearing 15 of output shaft, the right block bearing 21 of output shaft is supported in casing, the left end of output shaft 17 is through felt collar oil sealing 18 cross-under left bearing end caps 19, both ensured the location of shafting components, can meet again the requirement that moves axially of eliminating output shaft in backlash process.

Claims (5)

1. the hard flank of tooth cycloidal ball planet of a single-stage speed reducer, comprise casing (29), input shaft (4), eccentric bushing (6), steel ball group (32,35,37), end cap (7), cross plate (9), planetary plate (26), spider (23) and output shaft (17), it is characterized in that: the described input shaft interference fit cross-under eccentric bushing that is connected, eccentric bushing is by rotary arm bearing (10) cross-under planetary plate, output shaft is connected by set screws (13) and spider, planetary plate, spider and steel ball group (32) composition Cycloid Steel Ball Planetary Transmission mechanism; Described end cap is connected end cap disk (27) and casing by set screws (36), cross plate is connected on input shaft and cross plate floats is arranged between planetary plate and end cap disk, cross plate, planetary plate and steel ball group (35), and cross plate, end cap disk and steel ball group (37) composition cross steel ball constant speed driving mechanism.
2. the hard flank of tooth cycloidal ball planet of single-stage according to claim 1 speed reducer, it is characterized in that: described planetary plate left side is by interference fit and Cock screw group (30,31) be connected epicycloid outside disc (11) and epicycloid inner disc (25), and the flank profil on epicycloid outside disc inner edge and in epicycloid inner disc outer rim is combined into the epicycloid groove of tapered cross-section; Described spider right side is by interference fit and Cock screw group (33,34) be connected hypocycloid outside disc (12) and hypocycloid inner disc (24), and the flank profil on hypocycloid outside disc inner edge and in hypocycloid inner disc outer rim is combined into the hypocycloid groove of tapered cross-section; The movable steel ball group (32) of installing between inside and outside cycloid groove.
3. the hard flank of tooth cycloidal ball planet of single-stage according to claim 1 speed reducer, it is characterized in that: described planetary plate right side is processed with the horizontal slot of one group of tapered cross-section, cross plate left side is also processed with the horizontal slot of one group of tapered cross-section, and movable steel ball group (35) is installed between two groups of horizontal slots; Described end cap disk left side is processed with the vertical groove of one group of tapered cross-section, and cross plate right side is also processed with the vertical groove of one group of tapered cross-section, and movable steel ball group (37) is also installed between two groups of vertical groove.
4. the hard flank of tooth cycloidal ball planet of single-stage according to claim 1 speed reducer, it is characterized in that: the right block bearing of described input shaft (5) adopts Internal and external cycle axial restraint mode, and the left block bearing of input shaft (14) adopts inner ring axial restraint, outer ring play mode.
5. the hard flank of tooth cycloidal ball planet of single-stage according to claim 1 speed reducer, it is characterized in that: described casing (29) left end endoporus is processed with screw thread, be screwed into the fixing left block bearing of output shaft (15) of pre-load nut (20), lock washer (16) is installed between pre-load nut and casing.
CN201420124577.9U 2014-03-19 2014-03-19 Single-stage hard-tooth-surface cycloid steel ball planetary speed reducer Active CN203809616U (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103883683A (en) * 2014-03-19 2014-06-25 江苏泰隆减速机股份有限公司 Single-stage rigid tooth surface cycloid steel ball planetary gear reducer
CN112728017A (en) * 2021-01-05 2021-04-30 珠海格力电器股份有限公司 Speed reducer

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103883683A (en) * 2014-03-19 2014-06-25 江苏泰隆减速机股份有限公司 Single-stage rigid tooth surface cycloid steel ball planetary gear reducer
CN112728017A (en) * 2021-01-05 2021-04-30 珠海格力电器股份有限公司 Speed reducer

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