CN203892472U - Closed cycloid precise speed reducer - Google Patents

Abstract

The utility model discloses a closed cycloid precise speed reducer, comprising an input part, a needle tooth shell, an output part and a few tooth difference inner meshing speed reducing mechanism; needle tooth pins for meshing with a cycloid wheel of the few tooth difference inner meshing speed reducing mechanism are peripherally arrayed at the inner ring of the needle tooth shell; containing slots which correspond to the needle tooth pins one by one and are used for mounting the needle tooth pins are arranged at the inner ring of the needle tooth shell; the needle tooth pins and inner walls of the corresponding containing slots are in dual-line contact. According to the closed cycloid precise speed reducer, the needle tooth pins and the corresponding containing slots on the pin tooth shell have dual-line contact characteristic, the needle tooth pins and the containing slots are in dual-line contact in the width direction, the bending strength is enlarged and the bearing capacity is increased; meanwhile, the error homogenizing effect can be favorably played due to the increment of contact lines, the transmission precision is improved and the demands on machining errors and assembly errors are reduced; compared with the existing RV speed reducer, the closed cycloid precise speed reducer has the advantages that the return difference is small, the structure is compact, the service life is long, the machining process is simple and the manufacturing cost is low.

Description

Enclosed type cycloid precision speed reduction device

Technical field

The utility model relates to cycloidal reducer technical field, relates in particular to a kind of enclosed type cycloid precision speed reduction device.

Background technique

Current Chinese high precision machines people is with the main dependence on import of RV retarder, and by Japanese Nabtesco company monopolizing, RV retarder transmission accuracy that the said firm produces is high, torsional stiffness is large, return difference is little, strong shock resistance, efficiency are high.But processing Cycloid tooth profile and pin wheel housing pin-and-hole need advanced special device, process system complexity, and cycloidal profile and pin wheel housing pin-and-hole are to machining error sensitivity, in order to obtain little return difference and load to be uniformly distributed, accuracy of manufacturing requires very high, just because of the highi degree of accuracy processing request of RV retarder existing structure, cause product cost very high, and the existing level of processing of China is also difficult to reach this required precision.

In addition, it is that gear pin is partly embedded in the pin-and-hole of pin wheel housing that RV retarder partly buries toothing without pin gear sleeve, although solved the diastrophic problem of gear pin, but existing machining accuracy can not ensure the conformity of pin-and-hole internal diameter and gear pin external diameter completely, conventionally pin-and-hole internal diameter can be slightly larger than gear pin external diameter, there is gap and produce single line and contact in gear pin with pin wheel housing pin-and-hole, the return difference that fractional error causes is thus wayward, and single line contact is unfavorable for that gear pin is around its central axis rotation, make to have sliding friction between gear pin and cycloid wheel, cause temperature rise to increase, transmission efficiency reduces.

Therefore, for addressing the above problem, need to be improved existing planet-cycloid reducer, reduce the requirement of highi degree of accuracy manufacturing by structural design, a kind of planet-cycloid reducer of, compact structure less than existing RV retarder return difference, long service life is proposed, simultaneously simple, the low cost of manufacture of processing technology.

Model utility content

In view of this, the purpose of this utility model is to provide a kind of enclosed type cycloid precision speed reduction device, reduce the requirement of highi degree of accuracy manufacturing by structural design,, compact structure less than existing RV retarder return difference, long service life, simultaneously simple, the low cost of manufacture of processing technology.

Enclosed type cycloid precision speed reduction device of the present utility model, comprise engaging speed reducer structure in input part, pin wheel housing, output and few teeth difference, described pin wheel housing inner ring circumferential array is useful on the gear pin engaging with the cycloid wheel of engaging speed reducer structure in described few teeth difference, and pin wheel housing inner ring and gear pin are provided with the containing groove for gear pin is installed one to one; Described gear pin and corresponding containing groove inwall doublet contact;

Further, described containing groove is by the moulding of slow feeding linear cutting line cutting process;

Further, described containing groove shape is two circular arc type unbroken curves, and gear pin is installed on the two circular arcs of pin wheel housing and contains in groove, and on shaft section, two circular arc lines are tangent at wrapping angle α place with gear pin cylindrical, and gear pin and containing groove are doublet contact;

Further, described wrapping angle α>=θ _max, k ₁---cycloid wheel curtate ratio, K ₁=ez _b/ R _z; E---throw of eccentric; Z _b---the pinwheel number of teeth, i.e. gear pin number; R _z---pinwheel radius; And contain two radius of arc r of groove _nwith gear pin radius r _zmeet λ=r _n/ r _z, λ=1.04～1.1; Pin wheel housing diameter of bore D _nincrease to D _z+ (0.2～0.4), D _zfor gear pin distribution circular diameter; Contain groove both sides wedge angle and adopt round-corner transition;

Further, described containing groove shape is the continuous smoothed curve of parabolic shape;

Further, described output comprises with cycloid wheel and coordinates output single-degree-of-freedom coaxial rotation to be connected in the output disc of pin wheel housing by pin-and-hole transmission; Described output disc comprises and is respectively in the axial two ends of pin wheel housing the left end disc being fixed together and right end disc; Between described left end disc and pin wheel housing and between right end disc and pin wheel housing, be axially, radially Bidirectional supporting is rotationally connected;

Further, be equipped with radial bearing roller and cod roller between described left end disc and pin wheel housing and between right end disc and pin wheel housing, the corresponding radial bearing roller in the axial two ends of pin wheel housing and cod roller are respectively equipped with the outer raceway with a side block limit; The corresponding radial bearing roller of left end disc and right end disc and cod roller are provided with the interior raceway with opposite side rib respectively; In left end disc and right end disc, also corresponding radial bearing roller is fixed with retainer;

Further, between described left end disc and pin wheel housing and between right end disc and pin wheel housing, can arrange respectively that crossed roller bearing, angular contact bearing or tapered roller bearing are realized axially, radially Bidirectional supporting is rotationally connected;

Further, described input part comprises input gear axle; In described few teeth difference, engaging speed reducer structure comprises involute planet gear, cycloid wheel and crankshaft; Described involute planet gear is in transmission connection taking input gear axle as sun gear and forms first order involute planetary reducing gear; Described crankshaft and involute planet gear corresponding setting one by one; The wheel shaft of crankshaft is rotationally connected with left end disc and right end disc with the coaxial fixing also single-degree-of-freedom of corresponding involute planet gear; The eccentric wheel of crankshaft arranges and is rotatably assorted for driving cycloid wheel to roll and form second level cycloid pin gear planet speed reducer structure along the inner ring of the pinwheel of gear pin formation as rocking arm and corresponding cycloid wheel with cycloid wheel is corresponding one by one; Between eccentric wheel and cycloid wheel by taking eccentric wheel as inner ring, taking cycloid wheel as outer ring, the integrated form double-eccentric shaft of full-complement cylinder roller of composition holds and is rotatably assorted, wherein eccentric wheel periphery is provided with the integrated form double-eccentric shaft with one-sided rib and holds raceway, integrated form double-eccentric shaft holds full-complement cylinder roller in raceway, and cylindrical roller another side adopts hot-mounting process interference to be arranged on eccentric wheel upper limit rounding post roller axial float by back-up ring; Cycloid wheel is coordinated and is formed simple supporting shaft output mechanism by pin-and-hole transmission with output; The flank profil of described cycloid wheel is given back lash cycloidal profile, and its forming process is:

A. obtain primary clearance; Choosing the one-sided flank profil of cycloid wheel is research object, and the cycloid wheel standard flank profil obtaining by cycloid wheel standard tooth profile equation is passed through to change gear pin radius r _z, pinwheel radius R _zor change both size acquisition primary clearances simultaneously, and obtaining the curve I of the one-sided flank profil of cycloid wheel, the tooth profile equation of curve I is as follows:

B. rotating curve I; With the flex point (x of curve I ₀, y ₀) be the center of circle, rotation one angle [alpha], obtains curve II; Flex point coordinate (x ₀, y ₀):

The tooth profile equation of curve II:

x ₂＝x ₀+(x ₁-x ₀)cosα+(y ₁-y ₀)sinα

y ₂＝y ₀-(x ₁-x ₀)sinα+(y ₁-y ₀)cosα

C. deflection curve II; Taking the initial point of cycloid wheel system of coordinates as the center of circle, by curve II deflection one angle beta, obtain curve III, be the one-sided tooth curve of given back lash cycloid wheel; The tooth profile equation of curve III:

x ₃＝x ₂cosβ+y ₂sinβ

y ₃＝-x ₂sinβ+y ₂cosβ

D. transition arc (top circle)

Outside radius:

When time, maximum value be transition arc tooth top radius of a circle;

Transition arc equation:

$\begin{array}{c}{x}_{\mathrm{\θ}}=R_{\mathrm{aMax}}\cos \mathrm{\θ}\\ y_{\mathrm{\θ}}=R_{\mathrm{aMax}}\sin \mathrm{\θ}\end{array},\mathrm{\θ}\∈({\mathrm{\θ}}_0,{\mathrm{\θ}}_t)$

? place, tight mesh flank profil is crossing with transition arc, and system of equations can solve θ _t

${\mathrm{\θ}}_0=\frac{\mathrm{\π}}{2}-\frac{\mathrm{\π}}{Z_g};$

It has back lash Cycloid tooth profile equation to be:

x ₂＝x ₀+(x ₁-x ₀)cosα+(y ₁-y ₀)sinα

y ₂＝y ₀-(x ₁-x ₀)sinα+(y ₁-y ₀)cosα

x ₃＝x ₂cosβ+y ₂sinβ

In various above, when time, can be in the hope of be initial value;

--- end value;

---the mesh boundary point of gear pin;

K ₁---cycloid wheel curtate ratio, K ₁=ez _b/ R _z;

I ^h---the relative velocity ratio of cycloid wheel and pinwheel, i ^h=z _b/ z _g;

---pivoted arm is with respect to the corner of a certain gear pin center radius vector, i.e. phase angle of meshing;

R _z---gear pin exradius;

R _z---pinwheel radius;

Δ R _z---pinwheel change in radius amount;

Δ r _z---gear pin change in radius amount;

α---curve I is with flex point (x ₀, y ₀) be the angle of swing in the center of circle;

β---the deflection angle of curve II;

E---throw of eccentric;

Z _b---the pinwheel number of teeth, i.e. gear pin number;

Z _g---the cycloid wheel number of teeth.

The beneficial effects of the utility model are: enclosed type cycloid precision speed reduction device of the present utility model, between containing groove on gear pin and pin wheel housing, there is doublet contact characteristic, gear pin is doublet contact with containing groove in facewidth direction, increase flexural strength, improved bearing capacity, increasing of Line of contact, is conducive to bring into play averaging effect of errors simultaneously, improve transmission accuracy, thereby can reduce the requirement to machining error and assembly error; , compact structure less than existing RV retarder return difference, long service life, simultaneously simple, the low cost of manufacture of processing technology.

Brief description of the drawings

Fig. 1 is structural representation of the present utility model;

Fig. 2 is the left view of Fig. 1;

Fig. 3 is that two circular arc types contain groove structural representation;

Fig. 4 is that parabolic shape contains groove structural representation;

Fig. 5 is cycloid wheel standard flank profil and given back lash cycloidal profile comparison diagram;

Fig. 6 for axially, Bidirectional supporting rotation connection structure enlarged view radially;

Fig. 7 is that integrated form double-eccentric shaft holds enlarged view;

Fig. 8 is the erection drawing of the utility model application radial bearing roller and the combination of cod roller;

Fig. 9 is the erection drawing of the utility model application crossed roller bearing;

Figure 10 is the erection drawing of the utility model application angular contact bearing and tapered roller bearing.

Embodiment

Fig. 1 is structural representation of the present utility model; Fig. 2 is the left view of Fig. 1; Fig. 3 is that two circular arc types contain groove structural representation; Fig. 4 is that parabolic shape contains groove structural representation; Fig. 5 is cycloid wheel standard flank profil and given back lash cycloidal profile comparison diagram; Fig. 6 for axially, Bidirectional supporting rotation connection structure enlarged view radially; Fig. 7 is that integrated form double-eccentric shaft holds enlarged view; Fig. 8 is the erection drawing of the utility model application radial bearing roller and the combination of cod roller; Fig. 9 is the erection drawing of the utility model application crossed roller bearing; Figure 10 is the erection drawing of the utility model application angular contact bearing and tapered roller bearing; As shown in the figure: the enclosed type cycloid precision speed reduction device of the present embodiment, comprise engaging speed reducer structure in input part, pin wheel housing 1, output and few teeth difference, described pin wheel housing 1 inner ring circumferential array is useful on the gear pin 3 engaging with the cycloid wheel 2 of engaging speed reducer structure in described few teeth difference, gear pin 3 is arranged and is fixed along pin wheel housing 1 inner ring and forms pinwheel, and pin wheel housing 1 inner ring and gear pin 3 are provided with the containing groove 4 for gear pin 3 is installed one to one; Described gear pin 3 and corresponding containing groove 4 inwall doublet contacts; Doublet contact refers to that gear pin 3 contacts with containing groove 4 by its two buses in facewidth direction; Increased flexural strength, improved bearing capacity, increasing of Line of contact, is conducive to bring into play averaging effect of errors, improves transmission accuracy, thereby can reduce the requirement to machining error and assembly error; Gear pin 3 location are reliable simultaneously, and return difference is little, and transmission accuracy is high, and its rotation around self axis is flexible, is difficult for forming dead point, and the wearing and tearing of gear pin 3 flank of tooth are more even, are conducive to improve transmission efficiency; Contain groove 4 bottoms and do not contact with gear pin 3, can hold and deposit a part of lubricant grease and foul, reduce wearing and tearing, improve the fluency that gear pin 3 rotates.

In the present embodiment, described containing groove 4 is by the moulding of slow feeding linear cutting line cutting process; In the time of the less retarder of machined needles alligator 3 diameters, the surface roughness that contains groove 4 is good, and machining accuracy is high, low cost of manufacture.

In the present embodiment, described containing groove 4 is shaped as two circular arc type unbroken curves, and gear pin 3 is installed on 1 pair of circular arc of pin wheel housing and contains in groove 4, and on shaft section, two circular arc lines are tangent at wrapping angle α place with gear pin 3 cylindricals, and gear pin 3 and containing groove 4 are doublet contact; Contain groove 4 and be shaped as two circular arc type unbroken curves and refer to that containing groove 4 transverse section curves is formed by two sections of circular curves docking, as shown in Figure 3, between corresponding with two sections of circular curves two cylndrical surface and gear pin 3, produce doublet contact.

In the present embodiment, described wrapping angle α>=θ _max, k ₁---cycloid wheel 2 curtate ratios, K ₁=ez _b/ R _z; E---throw of eccentric; Z _b---the pinwheel number of teeth, i.e. gear pin 3 numbers; R _z---pinwheel radius, pinwheel radius is gear pin distribution circle radius; And contain two radius of arc r of groove 4 _nwith gear pin 3 radius r _zmeet λ=r _n/ r _z, λ=1.04～1.1; Pin wheel housing 1 diameter of bore D _nincrease to D _z+ (0.2～0.4), D _zfor gear pin 3 distribution circular diameters; Contain groove 4 both sides wedge angles and adopt round-corner transition, contain groove 4 both sides wedge angles and carry out fillet processing, can prevent that stress is concentrated, be conducive to the formation of oil-feed and lubricant film, improved lubrication property, thereby improved transmission efficiency.

In the present embodiment, described containing groove 4 is shaped as the continuous smoothed curve of parabolic shape; Containing groove 4 is shaped as the continuous smoothed curve of parabolic shape and refers to that containing groove 4 transverse section curves is the continuous smoothed curve of parabolic shape, as shown in Figure 4, produces doublet contact between two-part curved surface of both sides, parabola summit and gear pin 3; Containing groove 4 internal surfaces is continuous smooth surface, is beneficial to processing and lubricated.

In the present embodiment, described output comprises with cycloid wheel 2 and coordinates output single-degree-of-freedom coaxial rotation to be connected in the output disc of pin wheel housing 1 by pin-and-hole transmission; Described output disc comprises and is respectively in the axial two ends of pin wheel housing 1 left end disc 5 being fixed together and right end disc 6; Between described left end disc 5 and pin wheel housing 1 and between right end disc 6 and pin wheel housing 1, be axially, radially Bidirectional supporting is rotationally connected; Form simple supporting shaft output mechanism, the dual-support structure of simple supporting shaft output mechanism makes that retarder rigidity is large, function is symmetrical, can realize coaxial two-direction output, more stable than cantilever shaft type output mechanism structure of the prior art; Axially, radially Bidirectional supporting rotation connection structure makes retarder can bear radial load and larger thrust load in very little space simultaneously.

In the present embodiment, between described left end disc 5 and pin wheel housing 1 and between right end disc 6 and pin wheel housing 1, be equipped with radial bearing roller 7 and cod roller 8, the corresponding radial bearing roller 7 in the axial two ends of pin wheel housing 1 and cod roller 8 are respectively equipped with the outer raceway with a side block limit; The corresponding radial bearing roller 7 of left end disc 5 and right end disc 6 and cod roller 8 are provided with the interior raceway with opposite side rib respectively; In left end disc 5 and right end disc 6, also corresponding radial bearing roller 7 is fixed with retainer 9; As shown in Figure 8, radial bearing roller 7 refers to the bearing roller that axis radially arranges along pin wheel housing 1; Cod roller 8 refers to the bearing roller that axis axially arranges along pin wheel housing 1, and a side block limit and opposite side rib are to be located at the shoulder block face at radial bearing roller 7 and cod roller 8 axial two ends for corresponding radial bearing roller 7 or cod roller 8 are carried out to axially locating; Radial bearing roller 7 is arranged in the inner side of cod roller 8, and cod roller 8 points to a side of pin wheel housing 1 inside; Cod roller 8 is arranged in the outside of radial bearing roller 7, be that radial bearing roller 7 is along the outside side of pin wheel housing 1 radial finger, radial bearing roller 7 is 90 ° of angles with cod roller 8, interior raceway is the raceway of 90 ° of angle inner sides between radial bearing roller 7 and cod roller 8, and outer raceway is the raceway in 90 ° of angle outsides between radial bearing roller 7 and cod roller 8; Each rib is so that appropriate design is carried out in the processing of left end disc 5, right end disc 6 and pin wheel housing 1 and assembling.

In the present embodiment, between described left end disc 5 and pin wheel housing 1 and between right end disc 6 and pin wheel housing 1, can arrange respectively that crossed roller bearing 10, angular contact bearing 11 or tapered roller bearing 12 are realized axially, radially Bidirectional supporting is rotationally connected; Fig. 9 is the erection drawing of the utility model application crossed roller bearing 10; Figure 10 is the erection drawing of the utility model application angular contact bearing 11 and tapered roller bearing 12, and application crossed roller bearing 10, angular contact bearing 11 or tapered roller bearing 12 can make full use of existing resource, reduce manufacture cost, are convenient to I& M simultaneously.

In the present embodiment, described input part comprises input gear axle 13; In described few teeth difference, engaging speed reducer structure comprises involute planet gear 14, cycloid wheel 2 and crankshaft 15; Described involute planet gear 14 is in transmission connection taking input gear axle 13 as sun gear and forms first order involute planetary reducing gear; Described crankshaft 15 and involute planet gear 14 corresponding setting one by one; The wheel shaft 15a of crankshaft 15 is rotationally connected with left end disc 5 and right end disc 6 with the coaxial fixing also single-degree-of-freedom of corresponding involute planet gear 14; The eccentric wheel 15b of crankshaft 15 and cycloid wheel 2 are corresponding one by one to be arranged and is rotatably assorted and forms second level cycloid pin gear planet speed reducer structure for driving the inner ring of the pinwheel that cycloid wheel 2 forms along gear pin 3 to roll as rocking arm and corresponding cycloid wheel 2; Between eccentric wheel 15b and cycloid wheel 2 by taking eccentric wheel 15b as inner ring, taking cycloid wheel 2 as outer ring, the integrated form double-eccentric shaft of full-complement cylinder roller of composition holds 16 and is rotatably assorted, wherein eccentric wheel 15b periphery is provided with the integrated form double-eccentric shaft with one-sided rib and holds raceway, integrated form double-eccentric shaft holds full-complement cylinder roller in raceway, and cylindrical roller another side adopts hot-mounting process interference to be arranged on eccentric wheel 15b upper limit rounding post roller axial float by back-up ring 17; Cycloid wheel 2 is coordinated and is formed simple supporting shaft output mechanism by pin-and-hole transmission with output; Input gear axle 13, pin wheel housing 1, left end disc 5 and right end disc 6 coaxially arrange, and involute planet gear 14, cycloid wheel 2, crankshaft 15 threes' axis and input gear axle 13, pin wheel housing 1, left end disc 5 are parallel with the axis of right end disc 6; Integrated form double-eccentric shaft holds 16 employings and completely fills the structural design of roller bearing, has that size is little, compact structure, bearing capacity be large, the advantages such as long service life; The flank profil of described cycloid wheel 2 is given back lash cycloidal profile, and its forming process is:

A. obtain primary clearance; Choosing the one-sided flank profil of cycloid wheel 2 is research object, and one-sided flank profil is that 2 one gear teeth tooth tops of cycloid wheel are to the flank profil between a nearest teeth groove bottom land; The cycloid wheel standard flank profil obtaining by cycloid wheel standard tooth profile equation 18 is passed through to change gear pin 3 radius r _z, pinwheel radius R _zor change simultaneously both size obtain primary clearance, wherein pinwheel radius R _zrefer to gear pin 3 distribution circle radius; The curve I that obtains cycloid wheel 2 one-sided flank profils, the tooth profile equation of curve I is as follows:

B. rotating curve I; With the flex point (x of curve I ₀, y ₀) be the center of circle, rotation one angle [alpha], obtains curve II; Flex point coordinate (x ₀, y ₀):

The tooth profile equation of curve II:

x ₂＝x ₀+(x ₁-x ₀)cosα+(y ₁-y ₀)sinα

y ₂＝y ₀-(x ₁-x ₀)sinα+(y ₁-y ₀)cosα

C. deflection curve II; Taking the initial point of cycloid wheel 2 system of coordinates as the center of circle, the initial point of cycloid wheel 2 system of coordinates is geometrical centers of cycloid wheel 2, i.e. the center of circle of cycloid wheel 2, by curve II deflection one angle beta, obtains curve III, is given back lash cycloidal profile 19; The tooth profile equation of curve III:

x ₃＝x ₂cosβ+y ₂sinβ

y ₃＝-x ₂sinβ+y ₂cosβ

D. transition arc (top circle)

Outside radius:

When time, maximum value be transition arc tooth top radius of a circle;

Transition arc equation:

$\begin{array}{c}{x}_{\mathrm{\θ}}=R_{\mathrm{aMax}}\cos \mathrm{\θ}\\ y_{\mathrm{\θ}}=R_{\mathrm{aMax}}\sin \mathrm{\θ}\end{array},\mathrm{\θ}\∈({\mathrm{\θ}}_0,{\mathrm{\θ}}_t)$

? place, tight mesh flank profil is crossing with transition arc, and system of equations can solve θ _t

${\mathrm{\θ}}_0=\frac{\mathrm{\π}}{2}-\frac{\mathrm{\π}}{Z_g};$

It has cycloid wheel 2 tooth profile equations in back lash to be:

x ₂＝x ₀+(x ₁-x ₀)cosα+(y ₁-y ₀)sinα

y ₂＝y ₀-(x ₁-x ₀)sinα+(y ₁-y ₀)cosα

x ₃＝x ₂cosβ+y ₂sinβ

In various above, when time, can be in the hope of be initial value;

--- end value;

---the mesh boundary point of gear pin 3, when cycloid wheel 2 teeth engage with gear pin 3, the mesh boundary point of contact points (point of contact) in gear pin 3 flank profils;

K ₁---cycloid wheel 2 curtate ratios, K ₁=ez _b/ R _z;

I ^h---the relative velocity ratio of cycloid wheel 2 and pinwheel, i ^h=z _b/ z _g;

---pivoted arm is with respect to the corner of a certain gear pin 3 center radius vectors, i.e. phase angle of meshing;

R _z---gear pin 3 exradius;

R _z---pinwheel radius;

Δ R _z---pinwheel change in radius amount;

Δ r _z---gear pin 3 change in radius amounts;

α---curve I is with flex point (x ₀, y ₀) be the angle of swing in the center of circle;

β---the deflection angle of curve II;

E---throw of eccentric;

Z _b---the pinwheel number of teeth, i.e. gear pin 3 numbers;

Z _g---cycloid wheel 2 numbers of teeth;

Cycloid wheel standard tooth profile equation is:

Adopt given back lash cycloidal profile, this tooth profile is the profile modification based on transmission accuracy keeps and bearing capacity is optimized, compared with cycloid wheel standard flank profil, economic accuracy of machining is low, transmission accuracy easily ensures, can directly obtain gap at the bottom of tip clearance and tooth.

Finally explanation is, above embodiment is only unrestricted in order to the technical solution of the utility model to be described, although the utility model is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement the technical solution of the utility model, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of claim scope of the present utility model.

Claims (9)

1. an enclosed type cycloid precision speed reduction device, it is characterized in that: comprise engaging speed reducer structure in input part, pin wheel housing, output and few teeth difference, described pin wheel housing inner ring circumferential array is useful on the gear pin engaging with the cycloid wheel of engaging speed reducer structure in described few teeth difference, and pin wheel housing inner ring and gear pin are provided with the containing groove for gear pin is installed one to one; Described gear pin and corresponding containing groove inwall doublet contact.

2. enclosed type cycloid precision speed reduction device according to claim 1, is characterized in that: described containing groove is by the moulding of slow feeding linear cutting line cutting process.

3. enclosed type cycloid precision speed reduction device according to claim 1, it is characterized in that: described containing groove shape is two circular arc type unbroken curves, gear pin is installed on the two circular arcs of pin wheel housing and contains in groove, on shaft section, two circular arc lines and gear pin cylindrical are tangent at wrapping angle α place, and gear pin is doublet contact with containing groove.

4. enclosed type cycloid precision speed reduction device according to claim 3, is characterized in that: described wrapping angle α>=θ _max, k ₁---cycloid wheel curtate ratio, K ₁=ez _b/ R _z; E---throw of eccentric; Z _b---the pinwheel number of teeth, i.e. gear pin number; R _z---pinwheel radius; And contain two radius of arc r of groove _nwith gear pin radius r _zmeet λ=r _n/ r _z, λ=1.04～1.1; Pin wheel housing diameter of bore D _nincrease to D _z+ (0.2～0.4), D _zfor gear pin distribution circular diameter; Contain groove both sides wedge angle and adopt round-corner transition.

5. enclosed type cycloid precision speed reduction device according to claim 1, is characterized in that: described containing groove shape is the continuous smoothed curve of parabolic shape.

6. enclosed type cycloid precision speed reduction device according to claim 1, is characterized in that: described output comprises with cycloid wheel and coordinates output single-degree-of-freedom coaxial rotation to be connected in the output disc of pin wheel housing by pin-and-hole transmission; Described output disc comprises and is respectively in the axial two ends of pin wheel housing the left end disc being fixed together and right end disc; Between described left end disc and pin wheel housing and between right end disc and pin wheel housing, be axially, radially Bidirectional supporting is rotationally connected.

7. enclosed type cycloid precision speed reduction device according to claim 6, it is characterized in that: between described left end disc and pin wheel housing and between right end disc and pin wheel housing, be equipped with radial bearing roller and cod roller, the corresponding radial bearing roller in the axial two ends of pin wheel housing and cod roller are respectively equipped with the outer raceway with a side block limit; The corresponding radial bearing roller of left end disc and right end disc and cod roller are provided with the interior raceway with opposite side rib respectively; In left end disc and right end disc, also corresponding radial bearing roller is fixed with retainer.

8. enclosed type cycloid precision speed reduction device according to claim 6, is characterized in that: between described left end disc and pin wheel housing and between right end disc and pin wheel housing, can arrange respectively that crossed roller bearing, angular contact bearing or tapered roller bearing are realized axially, radially Bidirectional supporting is rotationally connected.

9. according to the enclosed type cycloid precision speed reduction device described in the arbitrary claim of claim 1-8, it is characterized in that: described input part comprises input gear axle; In described few teeth difference, engaging speed reducer structure comprises involute planet gear, cycloid wheel and crankshaft; Described involute planet gear is in transmission connection taking input gear axle as sun gear and forms first order involute planetary reducing gear; Described crankshaft and involute planet gear corresponding setting one by one; The wheel shaft of crankshaft is rotationally connected with left end disc and right end disc with the coaxial fixing also single-degree-of-freedom of corresponding involute planet gear; The eccentric wheel of crankshaft arranges and is rotatably assorted for driving cycloid wheel to roll and form second level cycloid pin gear planet speed reducer structure along the inner ring of the pinwheel of gear pin formation as rocking arm and corresponding cycloid wheel with cycloid wheel is corresponding one by one; Between eccentric wheel and cycloid wheel by taking eccentric wheel as inner ring, taking cycloid wheel as outer ring, the integrated form double-eccentric shaft of full-complement cylinder roller of composition holds and is rotatably assorted, wherein eccentric wheel periphery is provided with the integrated form double-eccentric shaft with one-sided rib and holds raceway, integrated form double-eccentric shaft holds full-complement cylinder roller in raceway, and cylindrical roller another side adopts hot-mounting process interference to be arranged on eccentric wheel upper limit rounding post roller axial float by back-up ring; Cycloid wheel is coordinated and is formed simple supporting shaft output mechanism by pin-and-hole transmission with output; The flank profil of described cycloid wheel is given back lash cycloidal profile, and its forming process is:

A. obtain primary clearance; Choosing the one-sided flank profil of cycloid wheel is research object, and the cycloid wheel standard flank profil obtaining by cycloid wheel standard tooth profile equation is passed through to change gear pin radius r _z, pinwheel radius R _zor change both size acquisition primary clearances simultaneously, and obtaining the curve I of the one-sided flank profil of cycloid wheel, the tooth profile equation of curve I is as follows:

B. rotating curve I; With the flex point (x of curve I ₀, y ₀) be the center of circle, rotation one angle [alpha], obtains curve II; Flex point coordinate (x ₀, y ₀):

The tooth profile equation of curve II:

x ₂＝x ₀+(x ₁-x ₀)cosα+(y ₁-y ₀)sinα

y ₂＝y ₀-(x ₁-x ₀)sinα+(y ₁-y ₀)cosα

C. deflection curve II; Taking the initial point of cycloid wheel system of coordinates as the center of circle, by curve II deflection one angle beta, obtain curve III, be the one-sided tooth curve of given back lash cycloid wheel; The tooth profile equation of curve III:

x ₃＝x ₂cosβ+y ₂sinβ

y ₃＝-x ₂sinβ+y ₂cosβ

D. transition arc (top circle)

Outside radius:

When time, maximum value be transition arc tooth top radius of a circle;

Transition arc equation:

? place, tight mesh flank profil is crossing with transition arc, and system of equations can solve θ _t

It has back lash Cycloid tooth profile equation to be:

x ₂＝x ₀+(x ₁-x ₀)cosα+(y ₁-y ₀)sinα

y ₂＝y ₀-(x ₁-x ₀)sinα+(y ₁-y ₀)cosα

x ₃＝x ₂cosβ+y ₂sinβ

y ₃＝-x ₂sinβ+y ₂cosβ，

In various above, when time, can be in the hope of be initial value;

end value;

---the mesh boundary point of gear pin;

K ₁---cycloid wheel curtate ratio, K ₁=ez _b/ R _z;

I ^h---the relative velocity ratio of cycloid wheel and pinwheel, i ^h=z _b/ z _g;

---pivoted arm is with respect to the corner of a certain gear pin center radius vector, i.e. phase angle of meshing;

R _z---gear pin exradius;

R _z---pinwheel radius;

Δ R _z---pinwheel change in radius amount;

Δ r _z---gear pin change in radius amount;

α---curve I is with flex point (x ₀, y ₀) be the angle of swing in the center of circle;

β---the deflection angle of curve II;

E---throw of eccentric;

Z _b---the pinwheel number of teeth, i.e. gear pin number;

Z _g---the cycloid wheel number of teeth.