CN205350235U - Second grade cycloid steel ball reduction gear that connects in parallel - Google Patents
Second grade cycloid steel ball reduction gear that connects in parallel Download PDFInfo
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- CN205350235U CN205350235U CN201620002312.0U CN201620002312U CN205350235U CN 205350235 U CN205350235 U CN 205350235U CN 201620002312 U CN201620002312 U CN 201620002312U CN 205350235 U CN205350235 U CN 205350235U
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- steel ball
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- planetary plate
- enclosed slot
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Abstract
The utility model provides a second grade cycloid steel ball reduction gear that connects in parallel belongs to accurate mechanical transmission field, and it includes casing, input shaft, planet dish I, eccentric cover I, steel ball group, planet dish II, eccentric cover II, steel ball group, end cover, output shaft, nut pretightening, support bearings, bearing end plate. This reduction gear adopts the driven infrastructure of the parallelly connected poor planet of few tooth of NN type second grade to inside and outside cycloid enclosed slot on end cover, planet dish and the output shaft end face is as the flank profil, and the amboceptor meshes the transmission in regard as with the steel ball, and the four -point contact through steel ball and cycloid enclosed slot eliminates the tooth clearance, have simple structure, small, the drive ratio big, zero tooth clearance, transmission precision height, low impact 's advantage. Simultaneously, be different from ordinary NN type cycloid steel ball transmission, the utility model discloses in 180 symmetries on the two planets dishes install in the eccentric shaft part of difference to connecting through steel ball annular constant speed mechanism, can realizing engagement force and inertia equilibrium of forces, inertial force is little when having the transmission operation, advantage that rocking arm bearing load is little, the life -span is high.
Description
Technical field
This utility model relates to a kind of accurate speed reduction gearing, can be applicable to the precision mechanical transmission fields such as robot, Digit Control Machine Tool, aviation, medical apparatus and instruments, instrument and meter.
Background technology
In order to improve transmission accuracy and the control accuracy of the precision optical machineries such as robot, require that the speed reduction gearing used has compact conformation, volume is little, gear ratio is big, backlash is little, response is fast, efficiency high, requires that speed reduction gearing has higher reciprocal positioning precision simultaneously.
The mechanism form of existing conventional accurate speed reduction gearing many employings single-stage K-H-V type or two grades of NN type few teeth difference transmissions.Wherein, the single-stage K-H-V type attainable transmission of few teeth difference transmission is smaller, especially single-stage cycloidal grinding ball transmission, and owing to its number of teeth adopting two teeth difference combines, therefore attainable gear ratio is less, it is difficult to adapt to the demand of robotic equipment's low-speed running.Two grades of NN type few teeth difference transmissions can realize higher gear ratio, but common NN type Cycloid Ball Transmission, two planetary gears are installed on same eccentric shaft part, and when transmission runs, inertia force is big, rotary arm bearing load is very big, the life-span is relatively low, it is difficult to possess excellent transmission performance.
Chinese patent 200720311321.9, publication date on October 8th, 2008, disclose a name and be called a kind of Method of Cycloid Steel Ball Reducer, it is meshed is formed by importation and output part, its technical characteristics is to be provided with eccentric shaft in power shaft one end, eccentric shaft is provided with movable pendulum drum by bearing, movable pendulum drum one end is provided with annular cycloid groove track, cycloid groove center is provided with the oil storage tank that cross section is spill, the other end of movable pendulum drum is provided with circular steel ball-and-socket, steel ball nest on movable pendulum drum with Radius is uniformly distributed setting, power shaft and output shaft are by fixed pendulum drum, movable pendulum drum rolls link mutually with steel ball.This utility model simple in construction, volume is little, goes slick, power transmission efficiency is high, but owing to this utility model have employed the mechanism form of single-stage K-H-V type few teeth difference transmission, its attainable transmission is smaller, it is difficult to be useful in the demand of the equipment low-speed runnings such as robot.
Chinese patent 200820076990.7, publication date on January 28th, 2009, disclose a name and be called constantly without return difference transmission fine grade ball planet speed reducer, it includes input eccentric shaft, end face has the spider of cycloid enclosed slot, combination type planetary plate, end face to have output panel and the frame of cycloid enclosed slot, and combination type planetary plate end face is made up of the planetary plate of cycloid enclosed slot the planetary plate of cycloid enclosed slot, butterfly spring, bearing pin and end face.This utility model solve precision steel ball planetary reducer because of Meshing Pair abrasion gap occurs, cause that transmission return difference and Meshing Pair thermal expansion cause card to be waited indefinitely problem, the automatic without return difference transmission constantly of decelerator can be realized, but in the NN type few tooth difference transmission mechanism that this utility model adopts, two planetary plates are installed on same eccentric shaft part, when transmission runs, inertia force is big, rotary arm bearing load is very big, the life-span is relatively low, and the machining accuracy of combination type planetary plate requires significantly high with assembly precision, therefore transmission performance is not good.
Utility model content
This utility model overcomes the defect of above-mentioned existence, it is provided that a kind of two grades of Method of Cycloid Steel Ball Reducers in parallel, belongs to precision mechanical transmission field.This decelerator adopts the basic structure of two grades of small Tooth Number Difference Planetary Transmission in parallel of NN type, using the inside and outside cycloid enclosed slot on end cap, planetary plate and output shaft end face as flank profil, it is engaged transmission as mediator using steel ball, eliminate backlash by four point cantact of steel ball and cycloid enclosed slot, there is simple in construction, volume is little, gear ratio is big, the advantage of the high and low impact of zero backlash, transmission accuracy.Simultaneously, it is different from common NN type Cycloid Ball Transmission, in this utility model, two planetary plate 180 ° is symmetrically arranged on different eccentric axis section, and connected by steel ball annular groove constant speed unit, the balance of engagement force and inertia force can be realized, there is inertia force when transmission runs little, the advantage that rotary arm bearing load is little, the life-span is high.
This utility model adopts the following technical scheme that a kind of two grades of Method of Cycloid Steel Ball Reducers in parallel, including power shaft, power shaft end cap, end cap, the first steel ball group, planetary plate I, rotary arm bearing I, eccentric bushing I, the 3rd steel ball group, planetary plate II, rotary arm bearing II, eccentric bushing II, axle sleeve, the second steel ball group, output shaft, pre-load nut, output shaft end cap, casing.It is characterized in that: power shaft is connected with eccentric bushing I by interference fit, and be connected with planetary plate I by rotary arm bearing I；Power shaft is connected with eccentric bushing II also by interference fit, and is connected with planetary plate II by rotary arm bearing II.Eccentric bushing I is equal with the eccentric throw of eccentric bushing II and is arranged symmetrically with in 180 °.The right-hand member of output shaft is flange plate structure.End cap is connected with casing by screw group.
Further, two grades of described Method of Cycloid Steel Ball Reducers in parallel, its end cap is connected with casing by screw group, on the left side of end cap, processing has tapered cross-section hypocycloid enclosed slot, on the right side of planetary plate I, processing has tapered cross-section epicycloid enclosed slot, first steel ball group of activity is installed between inside and outside cycloid enclosed slot, constitutes first order deceleration transmission Meshing Pair.On the left side of planetary plate II, processing has tapered cross-section epicycloid enclosed slot, on the right side of output shaft right-hand member ring flange, processing has tapered cross-section hypocycloid enclosed slot, second steel ball group of activity is installed between inside and outside cycloid enclosed slot, constitutes second level deceleration transmission Meshing Pair.
Also include, two grades of described Method of Cycloid Steel Ball Reducers in parallel, the left side of its planetary plate I is evenly distributed in the cannelure that 4 cross sections are W shape, the right side of planetary plate II is also evenly distributed in the cannelure of 4 same shapes, the interlaced area of planetary plate I cannelure corresponding to planetary plate II is placed with the 3rd steel ball group of activity.
Also including, two grades of described Method of Cycloid Steel Ball Reducers in parallel, the right block bearing of its power shaft adopts Internal and external cycle axial restraint mode, and the left block bearing of power shaft adopts inner ring axial restraint, outer ring play mode.In casing left end, hole machined has screw thread, is screwed into the left block bearing of the fixing output shaft of pre-load nut, is provided with stop washer between pre-load nut and casing.
After adopting above technical scheme, this utility model reaches to provide the benefit that:
The Meshing Pair of (1) two grade of Method of Cycloid Steel Ball Reducer in parallel is that inside and outside cycloid enclosed slot contacts with four point gearing of steel ball, when decelerator rotating runs, all can ensure without backlash transmission, transmission accuracy is high, transmission return difference is less than ± 4arc min, and type of belt drive two grades in parallel is easily achieved bigger gear ratio, gear ratio is up to more than 60.
(2) in steel ball annular groove constant speed unit, the cannelure of each pair of W shape keeps four point gearing to contact with steel ball, when decelerator rotating runs, all can ensure without backlash precision drive.Meanwhile, two eccentric bushings on eccentric shaft part adopt 180 ° of bias to be arranged symmetrically with, and inertia force is in opposite direction, cancels out each other, it is possible to balance inertial force, reduce the load suffered by rotary arm bearing, improve the rotary arm bearing life-span.
(3) in casing left end, hole machined has screw thread, is screwed into pre-load nut and promotes shafting components to move, and can eliminate the backlash of residual during just assembling, it is ensured that transmission accuracy.Meanwhile, stop washer is installed between pre-load nut and casing, it is prevented that pre-load nut produces to loosen.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the A-A profile of Fig. 1；
Fig. 3 is the B-B profile of Fig. 1；
Fig. 4 is the C-C profile of Fig. 1；
Fig. 5 is the D-D profile of Fig. 1；
Fig. 6 is the E-E profile of Fig. 1；
Fig. 7 is the F-F profile of Fig. 1.
In Fig. 1～Fig. 7:
1 power shaft；2 felt collar oil sealings；The 3 right block bearings of power shaft；4 power shaft end caps；
5 screw groups；6 rotary arm bearing I；7 planetary plate I；8 first steel ball groups；
9 end caps；10 first screw groups；11 casing；12 planetary plate II；
13 second steel ball groups；14 the 3rd steel ball groups；15 rotary arm bearing II；The 16 right block bearings of output shaft；
The 17 left block bearings of output shaft；18 pre-load nuts；19 stop washers；20 output shaft end caps；
21 output shafts；22 second screw groups；23 packing rings；24 circlips for shaft；
The 25 left block bearings of power shaft；26 axle sleeves；27 eccentric bushing II；28 circlips for shaft；
29 eccentric bushing I；30 circlips for shaft.
Detailed description of the invention
Accompanying drawing discloses the concrete structure of a kind of embodiment of this utility model without limitation, and below in conjunction with accompanying drawing, the utility model will be further described.
Two grades of Method of Cycloid Steel Ball Reducers in parallel of one shown in Fig. 1～Fig. 6.Power is inputted by power shaft 1, and owing to power shaft 1 is connected with eccentric bushing I29 by interference fit, therefore power shaft 1 drives eccentric bushing I29 rotation together, and drives planetary plate I7 motion by the rotary arm bearing I6 on eccentric bushing I.Meanwhile, the epicycloid enclosed slot on planetary plate I7 right side promotes the first steel ball group 8 to move, and the first steel ball group 8 is subject on end cap 9 left side the constraint of hypocycloid enclosed slot, and the anti-astrolabe I7 of carrying out rotates with relatively low angular velocity, thus completing first order deceleration transmission.Cannelure on cannelure on planetary plate I7 left side, the 3rd steel ball group 14, planetary plate II12 right side constitutes steel ball annular groove Meshing Pair, and form parallel-crank mechanism by planetary plate I7, planetary plate II12 and the three steel ball group 14, thus forming constant speed unit.The spinning motion after the first order is slowed down of planetary plate I7 passes through steel ball annular groove constant speed unit constant-speed transmission to planetary plate II12.Epicycloid enclosed slot on planetary plate II12 left side promotes the second steel ball group 13 to move, second steel ball group 13 engages with the hypocycloid enclosed slot on output shaft 21 right-hand member ring flange right side, output shaft (21) is promoted to rotate with less angular velocity, thus completing second level deceleration transmission.
In this example, in the left end of casing 11, hole machined has screw thread, is screwed into pre-load nut 18 and promotes shafting components to move axially, and can eliminate the backlash between cycloid enclosed slot, cannelure and steel ball group 8,13,14, it is ensured that transmission accuracy.Meanwhile, stop washer 19 is installed between pre-load nut 18 and casing 11, it is prevented that pre-load nut 18 produces to loosen.Power shaft 1 adopts right block bearing 3 twin fixed guide-vane, the supporting structure that left block bearing 25 is travelling, both ensure that the location of shafting components, and what can meet again elimination backlash process center shafting part moves axially requirement.
Claims (5)
1. two grades of Method of Cycloid Steel Ball Reducers in parallel, including power shaft (1), power shaft end cap (4), end cap (9), first steel ball group (8), planetary plate I(7), rotary arm bearing I(6), eccentric bushing I(29), 3rd steel ball group (14), planetary plate II(12), rotary arm bearing II(15), eccentric bushing II(27), axle sleeve (26), second steel ball group (13), output shaft (21), pre-load nut (18), output shaft end cap (20), casing (11), it is characterized in that: power shaft (1) is by interference fit and eccentric bushing I(29) it is connected, and by rotary arm bearing I(6) with planetary plate I(7) be connected；Power shaft (1) is also by interference fit and eccentric bushing II(27) it is connected, and by rotary arm bearing II(15) with planetary plate II(12) be connected, eccentric bushing I(29) with eccentric bushing II(27) eccentric throw equal and be arranged symmetrically with in 180 °, the right-hand member of output shaft (21) is flange plate structure, and end cap (9) is connected with casing (11) by the first screw group (10).
2. a kind of two grades of Method of Cycloid Steel Ball Reducers in parallel according to claim 1, it is characterized in that: described end cap (9) is connected with casing (11) by the first screw group (10), on the left side of end cap (9), processing has tapered cross-section hypocycloid enclosed slot, planetary plate I(7) right side on processing have tapered cross-section epicycloid enclosed slot, in, first steel ball group (8) of activity is installed between epicycloid enclosed slot, constitute first order deceleration transmission Meshing Pair, planetary plate II(12) left side on processing have tapered cross-section epicycloid enclosed slot, on the right side of output shaft (21) right-hand member ring flange, processing has tapered cross-section hypocycloid enclosed slot, in, second steel ball group (13) of activity is installed between epicycloid enclosed slot, constitute second level deceleration transmission Meshing Pair.
3. a kind of two grades of Method of Cycloid Steel Ball Reducers in parallel according to claim 1, it is characterized in that: described planetary plate I(7) left side on be evenly distributed in the cannelure that 4 cross sections are W shape, planetary plate II(12) right side on be also evenly distributed in the cannelure of 4 same shapes, planetary plate I(7) and planetary plate II(12) corresponding cannelure interlaced area in be placed with the 3rd steel ball group (14) of activity.
4. a kind of two grades of Method of Cycloid Steel Ball Reducers in parallel according to claim 1, it is characterized in that: described power shaft (1) right block bearing (3) adopts Internal and external cycle axial restraint mode, power shaft (1) left block bearing (25) adopts inner ring axial restraint, outer ring play mode.
5. a kind of two grades of Method of Cycloid Steel Ball Reducers in parallel according to claim 1, it is characterized in that: in described casing (11) left end, hole machined has screw thread, it is screwed into the left block bearing (17) of the fixing output shaft (21) of pre-load nut (18), stop washer (19) is installed between pre-load nut (18) and casing (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620002312.0U CN205350235U (en) | 2016-03-09 | 2016-03-09 | Second grade cycloid steel ball reduction gear that connects in parallel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620002312.0U CN205350235U (en) | 2016-03-09 | 2016-03-09 | Second grade cycloid steel ball reduction gear that connects in parallel |
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| CN205350235U true CN205350235U (en) | 2016-06-29 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105508532A (en) * | 2016-03-09 | 2016-04-20 | 江苏泰隆减速机股份有限公司 | Two-stage-parallel cycloidal steel ball speed reducer |
| CN107299970A (en) * | 2017-08-17 | 2017-10-27 | 安徽捷线传动科技有限公司 | A kind of cycloidal ball deceleration device and its application in joint of robot |
| CN107327543A (en) * | 2017-08-17 | 2017-11-07 | 安徽捷线传动科技有限公司 | A kind of Cycloid Steel Ball Planetary Transmission mechanism and its joint of robot deceleration device |
| CN108843752A (en) * | 2018-08-16 | 2018-11-20 | 杨荣刚 | Multiple rows of precision ball retarder |
| WO2021139636A1 (en) * | 2020-01-06 | 2021-07-15 | 河南烛龙高科技术有限公司 | Undercut cycloidal movable tooth transmission mechanism |
-
2016
- 2016-03-09 CN CN201620002312.0U patent/CN205350235U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105508532A (en) * | 2016-03-09 | 2016-04-20 | 江苏泰隆减速机股份有限公司 | Two-stage-parallel cycloidal steel ball speed reducer |
| CN107299970A (en) * | 2017-08-17 | 2017-10-27 | 安徽捷线传动科技有限公司 | A kind of cycloidal ball deceleration device and its application in joint of robot |
| CN107327543A (en) * | 2017-08-17 | 2017-11-07 | 安徽捷线传动科技有限公司 | A kind of Cycloid Steel Ball Planetary Transmission mechanism and its joint of robot deceleration device |
| CN107327543B (en) * | 2017-08-17 | 2023-10-20 | 安徽一众精密轴业有限公司 | Cycloid steel ball planetary transmission mechanism and robot joint speed reducer thereof |
| CN107299970B (en) * | 2017-08-17 | 2024-03-15 | 安徽一众精密轴业有限公司 | Cycloidal steel ball speed reducer and application thereof in robot joint |
| CN108843752A (en) * | 2018-08-16 | 2018-11-20 | 杨荣刚 | Multiple rows of precision ball retarder |
| WO2021139636A1 (en) * | 2020-01-06 | 2021-07-15 | 河南烛龙高科技术有限公司 | Undercut cycloidal movable tooth transmission mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170823 Address after: 243000 Anhui city of Ma'anshan Province Yu Shan Economic Development Zone Industrial Park 6 building intelligent equipment Patentee after: Anhui Czech wire drive technology Co., Ltd. Address before: 225400 Daqing East Road, Taizhou, Jiangsu, No. 88 Patentee before: Tailong Decelerating Machine Co., Ltd., Jiangsu |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180411 Address after: 225400 No. 88 East Daqing Road, Jiangsu, Taixing Patentee after: Tailong Decelerating Machine Co., Ltd., Jiangsu Address before: 243000 Anhui city of Ma'anshan Province Yu Shan Economic Development Zone Industrial Park 6 building intelligent equipment Patentee before: Anhui Czech wire drive technology Co., Ltd. |