CN205618610U - Transmission - Google Patents

Abstract

The utility model relates to a transmission, including the cycloid gear, the cycloid gear is including dredging tooth cycloid gear, direction cross and close tooth cycloid gear, it links to each other with close tooth cycloid gear and becomes overall structure with close tooth cycloid gear -type through the direction cross to dredge the tooth cycloid gear, the periphery of dredging tooth cycloid gear and close tooth cycloid gear all is provided with cycloid needle tooth, the number of teeth of dredging the cycloid needle tooth in the tooth cycloid gear periphery is less than the number of teeth of the cycloid needle tooth in the close tooth cycloid gear periphery.

Description

Decelerator

Technical field

This utility model belongs to mechanical transmission fields, relates to a kind of decelerator, particularly relates to a kind of tooth difference transmission relatively and subtracts Speed device.

Background technology

Along with the fast development of industrial technology, decelerator demand is increasing, and especially robot industry needs is little Type, return difference are little, moment of torsion is big, speed reducing ratio is high fine decelerator and heavy machinery industry, fine machining apparatus industry need Demand large-scale, return difference is little, moment of torsion is big, speed reducing ratio is high, precision is high decelerator the most quickly increase.But, existing Some planetary reduction gears, worm type of reduction gearing, planet-cycloid reducer and harmonic speed reducer all because of respective construction features, The demand that science and technology is fast-developing at present can not be fully met.Although some enterprise is in order to improve the speed reducing ratio of decelerator, system Make the decelerator of the high speed reducing ratio of some different designs schemes.But these schemes also exist defect the most in varying degrees.Such as In the technical scheme disclosed in Application No. 02153089.0 and Application No. 201310545465.0, due to two cycloids Gear links together, and uses the eccentric shaft that eccentric throw is identical, therefore, will produce in the contact position of cycloid gear with gear pin One tangential displacement, produces frictional force, and the number of teeth difference of two cycloid gears is the most, and tangential displacement is the biggest, frictional force The biggest, significantly reduce the service life of decelerator.Simultaneously as there is tangential displacement, this design can only It is applicable to cycloid gear.At present, in order to improve speed reducing ratio through frequently with two planet-cycloid reducer series connection, will the first order putting The output shaft of line pinwheel reducer is fixed together with the eccentric shaft of second level planet-cycloid reducer, simultaneously also by two-stage Together with the pin wheel housing of planet-cycloid reducer is produced on shell, the two-stage series connection decelerator so made, speed reducing ratio will obtain To being greatly improved.But, while improving speed reducing ratio, the machining accuracy of the parts to be greatly improved that are bound to, otherwise, defect rate also will It is significantly increased.

Utility model content

In order to solve above-mentioned technical problem present in background technology, this utility model provides a kind of speed reducing ratio scope Greatly, output is big and the decelerator of compact conformation.

For achieving the above object, technical solution of the present utility model is:

A kind of decelerator, it is characterised in that: described decelerator includes cycloid gear；Described cycloid gear includes dredging tooth cycloid Gear, guiding cross and close tooth cycloid gear；Described thin tooth cycloid gear is connected with close tooth cycloid gear by guiding cross And form overall structure with close tooth cycloid gear；The periphery of described thin tooth cycloid gear and close tooth cycloid gear is provided with pendulum Line pin tooth；The number of teeth of the cycloidal pin teeth on described thin tooth cycloid gear periphery is less than the cycloidal pin teeth on close tooth cycloid gear periphery The number of teeth.

Above-mentioned guiding cross include annulus, respectively along annulus the close tooth cycloid gear connector extended radially outwardly and Dredge tooth cycloid gear connector；Described thin tooth cycloid gear is connected with thin tooth cycloid gear connector；Described close tooth cycloid gear It is connected with close tooth cycloid gear connector；Described annulus includes the first end face and second end face relative with the first end face；Institute State thin tooth cycloid gear connector to be arranged on the first end face；Described close tooth cycloid gear connector is arranged on the second end face.

The axis of above-mentioned thin tooth cycloid gear connector is axially mutually perpendicular to close tooth cycloid gear connector.

Above-mentioned thin tooth cycloid gear connector and close tooth cycloid gear connector are all to guide square shaft；Described thin tooth cycloid Guiding square shaft groove it is provided with on gear and close tooth cycloid gear；In described guiding square shaft is placed in guiding square shaft groove and in guiding Freely slide in square shaft groove.

Guiding square shaft bearing it is provided with between above-mentioned guiding square shaft and guiding square shaft groove；Described guiding square shaft is by guiding side Axle bearing is arranged in guiding square shaft groove, and described guiding square shaft slides in guiding square shaft groove freely.

Above-mentioned guiding square shaft is one or two；When described guiding square shaft is two, it is in the guiding side on same end face Axle is on same straight line.

The external diameter of above-mentioned thin tooth cycloid gear and the external diameter of close tooth cycloid gear are aniso-.

The external diameter of above-mentioned thin tooth cycloid gear is equal to the external diameter of close tooth cycloid gear.

The utility model has the advantages that:

This utility model provides a kind of use eccentric shaft, guiding cross, thin tooth cycloid gear, close tooth cycloid gear, determines State pin wheel housing, dynamic pin wheel housing, thin tooth gear pin, close tooth gear pin are the relative tooth difference gearing speed-reducer that critical piece is made, Its advantage is mainly:

1, this utility model uses and guides cross linear motion connection thin tooth cycloid gear, close tooth cycloid gear, by stationary state Pin wheel housing, dynamic pin wheel housing promote to positive and negative two rotation directions, are equivalent to insert a wedge wedge stationary state pin wheel housing, dynamically Between two side sets on pin wheel housing, it is to avoid the crowbar operation principle that old-fashioned planet-cycloid reducer uses, improve greatly Torsion, reduces input power, reduces eccentric shaft upper bearing (metal) spoilage；

2, this utility model has banned the bearing pin promoting point as crowbar, decreases a lot of parts, reduces in production Difficulty；

3, this utility model is after speed reducing ratio determines, stationary state pin wheel housing, the internal diameter of dynamic pin wheel housing are can be with flexible design 's.Therefore, the tooth that thin tooth cycloid gear, close tooth cycloid gear engage with stationary state pin wheel housing, dynamic pin wheel housing is can to select to appoint The tooth of meaning shape, even heteromorphic teeth, and also thin tooth cycloid gear, close tooth cycloid gear can select dissimilar tooth form respectively Tooth；Be highly advantageous to elimination return difference, raising moment of torsion, reduction production difficulty；

4, this utility model can use eccentric shaft to turn over one week and dredge tooth cycloid gear, close tooth cycloid gear relative to fixed State pin wheel housing, dynamic pin wheel housing turn over and rotate more than the multiple tooth set of a tooth, thus it would appear that dredge tooth cycloid gear, close tooth Cycloid gear is odd number tooth and turn over is that even numbers tooth and thin tooth cycloid gear, close tooth cycloid gear are even numbers tooth and turn over It is greater than the odd toothed phenomenon of 1, broadens the scope of speed reducing ratio, add between original deceleration is differential simultaneously and much subtract Speed ratio level；And make decelerator reduce return difference, reduce noise, add moment of torsion, the difficulty reducing in production.This practicality Novel provided relative tooth difference gearing speed-reducer is suitable for making the product of various different model, is especially suitable for making extra small Type, decelerator that speed reducing ratio is big, in a word, compared with other type of decelerator, relative tooth difference gearing speed-reducer speed reducing ratio model Enclose big, return difference is little, noise is low, moment of torsion is big, applied widely, production difficulty is low.

Accompanying drawing explanation

Fig. 1 is relative tooth difference gearing speed-reducer longitudinal direction cross-sectional schematic；

Fig. 2 is the relative tooth transversely layered cross-sectional schematic of difference gearing speed-reducer；

Fig. 3 is to guide cross schematic diagram；

Fig. 4 is to dredge tooth cycloid gear schematic diagram；

Fig. 5 is close tooth cycloid gear and guide cross and be linked and packed schematic diagram；

Fig. 6 is to dredge tooth cycloid gear, close tooth cycloid gear to be linked and packed schematic diagram with guiding cross；

Fig. 7 is to dredge tooth cycloid gear and close tooth cycloid gear package assembly schematic diagram；

Wherein:

1-guides cross；2-dredges tooth cycloid gear；3-eccentric shaft；4-guides square shaft pressing plate；The dynamic pin wheel housing of 5-；The close tooth of 6- Cycloid gear；7-dredges tooth gear pin；8-dredges tooth eccentric shaft bearing；9-stationary state pin wheel housing；10-close tooth gear pin；11-fixes seat even Connect lid；12-exports shaft-cup；13-pin wheel housing needle roller；14-plane bearing；15-gear pin limiting plate；16-close tooth eccentric shaft bearing； 17-bottom bracket bearing；18-guides square shaft bearing；

Detailed description of the invention

Technology design principle of the present utility model is: first set the thin tooth installed on dynamic pin wheel housing, stationary state pin wheel housing The quantity of gear pin or close tooth gear pin is more than the cycloidal pin teeth quantity of corresponding thin tooth cycloid gear, close tooth cycloid gear One；When eccentric shaft turns one week, due to the tooth curve in thin tooth cycloid gear, close both tooth cycloid gears Feature and limited by corresponding stationary state pin wheel housing upper pin gear pin, due to thin tooth cycloid gear, close tooth cycloid gear Two cycloid gears can not mutually rotate therefore, so dredge tooth cycloid gear, the motion of close tooth cycloid gear becomes existing revolution There is again the plane motion of rotation, dredge another pendulum corresponding with dynamic pin wheel housing in tooth cycloid gear, close tooth cycloid gear Line gear will force dynamic pin wheel housing to move with it, and when eccentric shaft just circles, dredge tooth cycloid gear, close tooth cycloid gear pair A tooth should have the most all been turned in dynamic pin wheel housing and stationary state pin wheel housing, but due to thin tooth gear pin and close tooth pin tooth Pin is divided the angle accounted for different so that dynamically pin wheel housing is different with the angle that stationary state pin wheel housing turns over, and creates an outer corner difference, Define the rotation relative to stationary state pin wheel housing of the dynamic pin wheel housing, then by dynamic pin wheel housing, this rotation is passed to output Axle exports, and the outer corner difference scope dredging tooth gear pin and close tooth gear pin is the biggest, such that it is able to obtain the highest speed reducing ratio；

The computational methods of speed reducing ratio are:

Set the thin tooth gear pin installed on stationary state pin wheel housing as N (N is as positive integer)；

Then: a thin tooth gear pin:

Divide the radian accounted forDivide the arc length accounted for

Set the close tooth gear pin installed on dynamic pin wheel housing as M (M is as positive integer)；

Then: a close tooth gear pin:

Divide the radian accounted forDivide the arc length accounted for

When eccentric shaft just circles, dredge tooth cycloid gear, close tooth cycloid gear corresponding to stationary state pin wheel housing and dynamic pin Tooth shell has the most all turned over a tooth, dredges tooth cycloid gear, close tooth cycloid gear corresponding to stationary state pin wheel housing and dynamically The angular displacement of pin wheel housing is respectively

And stationary state pin wheel housing and dynamic pin wheel housing produce reciprocal angle relative to thin tooth cycloid gear, close tooth cycloid gear Displacement, they are respectively

Therefore, dynamic pin wheel housing is relative to stationary state pin wheel housing:

Angular displacement

Dynamically pin wheel housing with the speed reducing ratio (rotating ratio) of eccentric shaft is:

$1:\frac{2\mathrm{\π}}{\mathrm{\Δ}\mathrm{\θ}}=1:\frac{2\mathrm{\π}}{2\mathrm{\π}\left(\frac{N-M}{MN}\right)}=1:\frac{MN}{N-M}$

Owing to M, N are positive integers, although so speed reducing ratio scope is very big, but speed reducing ratio is not continuous print；

Relation between internal diameter and the internal diameter of dynamic pin wheel housing of stationary state pin wheel housing:

A thin tooth gear pin on stationary state pin wheel housing divides the arc length accounted for

Dynamically a close tooth gear pin on pin wheel housing divides the arc length accounted for

When eccentric shaft just circles, dynamic pin wheel housing is poor relative to the arc length of stationary state pin wheel housing:

After M, N determine, the radius R of stationary state pin wheel housing once it is determined that, then:

Conclusion:

1, as N > M time, Δ θ be on the occasion of, dynamic pin wheel housing is consistent with the rotation direction of eccentric shaft；As N, < during M, Δ θ is negative Value, dynamic pin wheel housing is contrary with the rotation direction of eccentric shaft；

2, after the radius R of stationary state pin wheel housing determines, the change that dynamic pin wheel housing is poor relative to the arc length of stationary state pin wheel housing Rate is a constant along with the rate of change of the radius of dynamic pin wheel housing, so the dynamically radius of pin wheel housing and stationary state pin wheel housing whether phase Deng all without speed reducing ratio there being any impact；

Seeing Fig. 1 to Fig. 4, all references are: guide cross 1, dredge tooth cycloid gear 2, eccentric shaft 3, guiding square shaft Pressing plate 4, dynamic pin wheel housing 5, close tooth cycloid gear 6, thin tooth gear pin 7, thin tooth eccentric shaft bearing 8, stationary state pin wheel housing 9, close tooth Gear pin 10, fixing seat connect lid 11, output shaft-cup 12, pin wheel housing needle roller 13, plane bearing 14, gear pin limiting plate 15, close Tooth eccentric shaft bearing 16, bottom bracket bearing 17, guiding square shaft bearing 18.

The relative tooth difference gearing speed-reducer that this utility model provides is by eccentric shaft 3, guides cross 1, thin tooth cycloid gear 2, close tooth cycloid gear 6, stationary state pin wheel housing 9, dynamic pin wheel housing 5, dredge tooth gear pin 7, close tooth gear pin 10, output shaft-cup 12, Fixed base connects lid and bearing etc. and constitutes.

1, as shown in Figure 1, Figure 2, Figure 3 shows, guiding cross 1 is to be made up of outer four the guiding square shafts of a middle annulus and ring , four guide the guiding square shaft that in square shaft, each two is corresponding is on same axis, and two axis are mutually perpendicular to；

2, as shown in Figure 1, Figure 2, shown in Fig. 4, Fig. 5, Fig. 6, dredging tooth cycloid gear 2 has with close tooth cycloid gear 6 Dou Shiyou center There is cycloidal pin teeth in the hole of setting-up eccentricity axle 3, periphery and each also has above two to guide what square shaft grooves were constituted；Two cycloid tooths The cycloidal pin number of teeth of wheel differs；The external diameter of two cycloid gears is equal or unequal；

3, as shown in Figure 1 and Figure 2, eccentric shaft 3 is to be made up of input straight shaft portions and eccentric balance staff, and the input of eccentric shaft 3 is straight Shaft portion and eccentric balance staff are one or are fixed connected and composed by eccentric pendulum axle sleeve and input d-axis；On eccentric shaft 3 The eccentric throw of two eccentric balance staff parts differ；The eccentric direction of two eccentric balance staffs on eccentric shaft 3 is contrary 's；

4, as shown in Figure 1 and Figure 2, stationary state pin wheel housing 9 is fixed together with support shell, installs inside stationary state pin wheel housing 9 Have the gear pin being meshed with thin tooth cycloid gear 2 or close tooth cycloid gear 6, the gear pin on stationary state pin wheel housing 9 by Gear pin limiting plate 15 controls on stationary state pin wheel housing 9, and the quantity of the gear pin on stationary state pin wheel housing 9 is than corresponding thin tooth cycloid Many one or the most several of the cycloidal pin teeth quantity of gear 2 or close tooth cycloid gear 6；

5, as shown in Figure 1 and Figure 2, being provided with inside dynamic pin wheel housing 5 can be with thin tooth cycloid gear 2 or close tooth cycloid tooth The gear pin that wheel 6 is meshed, outside is connected with bearing, then is connected with support shell through bearing, the pin tooth that dynamic pin wheel housing 5 is installed Pin is controlled on stationary state pin wheel housing 9 by gear pin limiting plate 15, and the quantity of the gear pin that dynamic pin wheel housing 5 is installed is than correspondence Thin tooth cycloid gear 2 or many one or the most several of the cycloidal pin teeth quantity of close tooth cycloid gear 6；

6, as shown in Figure 1, Figure 2, shown in Fig. 4, Fig. 5, Fig. 6 and Fig. 7, dredge tooth cycloid gear 2 and be connected to close tooth cycloid gear 6 Guiding the both sides of cross 1, four the guiding square shafts guiding cross 1 are separately mounted to dredge tooth cycloid gear 2 and close tooth cycloid gear 6 On guiding square shaft groove in, guide square shaft and guide guiding square shaft bearing 18 is installed between square shaft groove, guiding square shaft bearing 18 Be directed to square shaft pressing plate 4 be encapsulated in guiding square shaft groove with guiding square shaft, dredge tooth cycloid gear 2 and close tooth cycloid gear 6 relative to Guide cross 1 and can do straight reciprocating motion, but the direction of motion of the two is orthogonal, therefore dredges tooth cycloid gear 2 Plane motion can be done relative to close tooth cycloid gear 6, but can not relatively rotate；

7, as shown in Figure 1 and Figure 2, dredge tooth cycloid gear 2, the endoporus warp respectively of close tooth cycloid gear 6 dredges tooth eccentric shaft bearing 8, close tooth eccentric shaft bearing 16 is assembled together with eccentric shaft 3, dredges the cycloid in the outside of tooth cycloid gear 2, close tooth cycloid gear 6 Thin tooth gear pin 7, close tooth gear pin 10 that pin tooth is arranged on inside dynamic pin wheel housing 5, stationary state pin wheel housing 9 with corresponding respectively engage Together；

8, as shown in Figure 1 and Figure 2, being provided with inside dynamic pin wheel housing 5 can be with thin tooth cycloid gear 2 or close tooth cycloid tooth Taking turns thin tooth gear pin 7 or close tooth gear pin 10 that the cycloidal pin teeth in 6 is meshed, outside is connected with bearing, then It is connected with support shell through bearing, the thin tooth gear pin 7 that dynamic pin wheel housing 5 is installed or the quantity comparison of close tooth gear pin 10 Many one or the most several of cycloidal pin teeth quantity on the thin tooth cycloid gear 2 answered or close tooth cycloid gear 6；

9, as shown in Figure 1 and Figure 2, the internal diameter of dynamic pin wheel housing 5 is equal or unequal；

10, as shown in Figure 1, Figure 2, Figure 6 shows, the diameter dredging tooth gear pin 7 and close tooth gear pin 10 is identical or differs 's；

11, as shown in Figure 1, Figure 2, Fig. 6 dredges the tooth outside tooth cycloid gear 2, close tooth cycloid gear 6 and difference is the most corresponding Dynamically the tooth inside pin wheel housing 5, stationary state pin wheel housing 9 can be cycloidal pin teeth or other shapes of tooth, it might even be possible to design Become the tooth of special shape, dredge the profile of tooth outside tooth cycloid gear 2 and close tooth cycloid gear 6 and can be identical or differ 's；

12, as shown in Figure 1 and Figure 2, the endoporus of fixing seat connection lid 11 is connected on eccentric shaft 3, outward by bottom bracket bearing 17 Side is fixedly connected on and fixes on the stationary state pin wheel housing 9 that seat is integrated mutually, and the internal ring of stationary state pin wheel housing 9 is provided with by gear pin Limiting plate 15 spacing can with thin tooth or close tooth cycloid gear 6 outside the intermeshing thin tooth of tooth or close tooth gear pin 10；

13, as shown in Figure 1 and Figure 2, dynamic pin wheel housing 5 internal ring is provided with by gear pin limiting plate 15 spacing can with dredge The intermeshing thin tooth of tooth outside tooth or close tooth cycloid gear 6 or close tooth gear pin 10, side is solid with output shaft-cup 12 Fixed connection, the centre bore of output shaft-cup 12 is connected with eccentric shaft 3 by bottom bracket bearing 17, dynamic pin wheel housing 5 and output shaft-cup 12 The outside of connector is connected with shell by upper and lower plane bearing 14 and pin wheel housing needle roller 13 and is sealed by cover plate；

14, as shown in Figure 1 and Figure 2, set on dynamic pin wheel housing 5, stationary state pin wheel housing install thin tooth gear pin 7 or The quantity of close tooth gear pin 10 ratio dredges the most one of cycloidal pin teeth quantity corresponding on tooth cycloid gear 2, close tooth cycloid gear 6； When eccentric shaft 3 rotates one week, due to the tooth curve in thin tooth cycloid gear 2, close both tooth cycloid gears 6 Feature and being limited by corresponding stationary state pin wheel housing 9 upper pin gear pin, again due to thin tooth cycloid gear 2, close tooth cycloid gear 6 Two cycloid gears can not mutually rotate therefore, so dredge tooth cycloid gear 2, the motion of close tooth cycloid gear 6 becomes existing public affairs Turning the plane motion having again rotation, another in thin tooth cycloid gear 2, close tooth cycloid gear 6 is corresponding with dynamic pin wheel housing 5 Cycloid gear dynamic pin wheel housing 5 will be forced to move with it, when eccentric shaft 3 just circles, dredge tooth cycloid gear 2, close tooth pendulum Line gear 6 has the most all turned over a tooth corresponding to dynamic pin wheel housing 5 and stationary state pin wheel housing 9, but due to thin tooth pin tooth Pin 7 is divided the angle accounted for different with close tooth gear pin 10 so that dynamically pin wheel housing 5 is different with the angle that stationary state pin wheel housing 9 turns over, Create an outer corner difference, define the rotation relative to stationary state pin wheel housing 9 of the dynamic pin wheel housing 5, then by dynamic pin wheel housing 5 This being rotated and pass to output shaft output, the outer corner difference scope dredging tooth gear pin 7 and close tooth gear pin 10 is the biggest, thus Can obtain the highest speed reducing ratio, speed reducing ratio is:

$1:\frac{MN}{N-M}.$

Claims (8)

1. a decelerator, it is characterised in that: described decelerator includes cycloid gear；Described cycloid gear includes dredging tooth cycloid tooth Wheel, guiding cross and close tooth cycloid gear；Described thin tooth cycloid gear is connected also with close tooth cycloid gear by guiding cross Overall structure is formed with close tooth cycloid gear；The periphery of described thin tooth cycloid gear and close tooth cycloid gear is provided with cycloid Pin tooth；The number of teeth of the cycloidal pin teeth on described thin tooth cycloid gear periphery is less than the cycloidal pin teeth on close tooth cycloid gear periphery The number of teeth.

Decelerator the most according to claim 1, it is characterised in that: described guiding cross includes annulus, respectively along annulus The close tooth cycloid gear connector extended radially outwardly and thin tooth cycloid gear connector；Described thin tooth cycloid gear and thin tooth Cycloid gear connector is connected；Described close tooth cycloid gear is connected with close tooth cycloid gear connector；Described annulus includes first End face and second end face relative with the first end face；Described thin tooth cycloid gear connector is arranged on the first end face；Described Close tooth cycloid gear connector is arranged on the second end face.

Decelerator the most according to claim 2, it is characterised in that: the axis of described thin tooth cycloid gear connector and close tooth Axially being mutually perpendicular to of cycloid gear connector.

Decelerator the most according to claim 3, it is characterised in that: described thin tooth cycloid gear connector and close tooth cycloid Gear linkage is all to guide square shaft；Guiding square shaft groove it is provided with on described thin tooth cycloid gear and close tooth cycloid gear； Freely slide in described guiding square shaft is placed in guiding square shaft groove and in guiding square shaft groove.

Decelerator the most according to claim 4, it is characterised in that: it is provided with between described guiding square shaft and guiding square shaft groove Guide square shaft bearing；Described guiding square shaft is arranged in guiding square shaft groove by guiding square shaft bearing, and described guiding square shaft is being led Freely slide in square shaft groove.

Decelerator the most according to claim 5, it is characterised in that: described guiding square shaft is one or two；Described guiding When square shaft is two, the guiding square shaft being on same end face is on same straight line.

7. according to the decelerator described in claim 1-6 any claim, it is characterised in that: outside described thin tooth cycloid gear Footpath is aniso-with the external diameter of close tooth cycloid gear.

8. according to the decelerator described in claim 1-6 any claim, it is characterised in that: outside described thin tooth cycloid gear Footpath is equal to the external diameter of close tooth cycloid gear.