CN206130000U - Precise planetary cycloid reducer - Google Patents
Precise planetary cycloid reducer Download PDFInfo
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- CN206130000U CN206130000U CN201621157593.3U CN201621157593U CN206130000U CN 206130000 U CN206130000 U CN 206130000U CN 201621157593 U CN201621157593 U CN 201621157593U CN 206130000 U CN206130000 U CN 206130000U
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Abstract
The utility model belongs to the technical field of the reduction gear technique and specifically relates to a precise planetary cycloid reducer, including planetary gear mechanism, cycloidal -pin wheel mechanism and input shaft, planetary gear mechanism include sun gear and with the planetary gear of sun gear meshing, cycloidal -pin wheel mechanism include first cycloid wheel and second cycloid wheel, needle tooth and with the eccentric shaft of a planetary gear trunk circling, the input shaft connects firmly with sun gear is as an organic whole, planetary gear connects firmly with the eccentric shaft, first cycloid wheel and second cycloid wheel are connected through eccentric bearing and eccentric shaft transmission, the eccentric shaft includes first off -centre portion and second off -centre portion, and the cycloidal gear teeth shape of this reduction gear can show improvement bearing capacity and guarantee lubricated sideshake through correction of the flank shape optimization, and the result of use is better.
Description
Technical field
This utility model is related to decelerator technical field, more particularly to a kind of precise planetary cycloid reducer.
Background technology
Existing disclosed RV decelerators are made up of primary planet pinion mechanism with one-level cycloidal-pin wheel mechanism, with body
Product is little, lightweight, the advantages of gear ratio is big, life-span length, precision keep stable, efficiency high, stable drive.It is than conventional harmonic wave
Transmission has higher fatigue strength, rigidity and life-span.Current robot joint speed reducer also all widely used structure, and
There is the trend for progressively replacing harmonic speed reducer, because Cycloidal pin-wheel drive is few teeth difference internal gear meshing transmission, registration is very big.And machine
Device person joint decelerator is very high to index requests such as kinematic accuracy, return differences, therefore, Cycloidal Wheel, pin tooth, pin tooth in joint speed reducer
The required precision of shell and eccentric shaft these vital parts is very high, and its difficulty of processing is big, and manufacturing cost is high.
Utility model content
The purpose of this utility model is and a kind of accurate planet pendulum for proposing in order to solve shortcoming present in prior art
Line decelerator.
To achieve these goals, this utility model employs following technical scheme：
A kind of precise planetary cycloid reducer, including planetary gears, cycloidal-pin wheel mechanism and input shaft are designed, it is described
Planetary gears includes central gear and the planetary gear engaged with the central gear, and the cycloidal-pin wheel mechanism includes
First Cycloidal Wheel a and the second Cycloidal Wheel b, pin tooth and the eccentric shaft rotated integrally with the planetary gear, the input shaft with
Central gear is integrated and connects firmly, and the planetary gear is connected firmly with eccentric shaft by spline, and planetary gear has with eccentric shaft
Strict phase requirements, the eccentric shaft is driven the first Cycloidal Wheel a and the second Cycloidal Wheel b, and the eccentric shaft includes that first is eccentric
Portion a and the second eccentric part b, first Cycloidal Wheel a and the second Cycloidal Wheel b are by being arranged at the first eccentric part a and second eccentric
Capacity eccentric bearing on portion b coordinates respectively with corresponding first eccentric part a and the second eccentric part b, and the pin wheel housing inner chamber is equidistantly provided with
Multiple pin teeth.
Preferably, the capacity eccentric bearing is the cylinder roller bearing without inside and outside circle.
Preferably, it is also inclined around described first while first Cycloidal Wheel a and the second Cycloidal Wheel b are engaged with the pin tooth
Center portion a and the second eccentric part b are turned round, and under the collective effect of the pin tooth and eccentric shaft, Cycloidal Wheel is public around the axis of pin wheel housing
Turn, and around the reverse rotation of own axes.
Preferably, it is furnished with pin wheel housing bearing between the output planetary frame and pin wheel housing.
Preferably, it is furnished with planet carrier bearing between the eccentric shaft and output planetary frame.
Preferably, the flank profil of the Cycloidal Wheel is the equidistant curve of the curtate epicycloid that Jing corners add modification of equidistance.
Preferably, the Cycloidal Wheel and the number of teeth difference of pin tooth are one or two.
Preferably, in the case where part and assembly relation is not changed, fixing three kinds of different components can realize three kinds
Different speed reducing ratio：
1. inner tooth shell is fixed, power is input into from input shaft, from planet carrier output；
2. fixed carrier, power is input into from input shaft, from inner tooth shell output；
3. input shaft is fixed, power is input into from inner tooth shell, from planet carrier output.
The utility model proposes a kind of precise planetary cycloid reducer, beneficial effect is：The precise planetary cycloid subtracts
Fast device can significantly improve bearing capacity and ensure to lubricate sideshake, and reliability is high, and the optimized correction of the flank shape of the form of cycloidal gear tooth, correction of the flank shape technique is difficult
Degree is relatively low, can be used for the joint speed reducer of industrial robot, when Cycloidal Wheel is in rolling contact with pin gear sleeve, reduces Cycloidal Wheel and pin tooth
Between friction, using effect is more preferable.
Description of the drawings
Fig. 1 be the utility model proposes a kind of precise planetary cycloid reducer structural representation；
Fig. 2 be the utility model proposes a kind of right side removed after output planetary frame of precise planetary cycloid reducer regard
Figure；
Fig. 3 is the A-A sectional views of this utility model Fig. 1 precise planetary cycloid reducers.
In figure：1 pin wheel housing, 2 pin teeth, 3 output planetary framves, 4 power input shafts, 5 eccentric shafts, the eccentric parts of 5a first, 5b
Two eccentric parts, 6 planet carrier bearings, the Cycloidal Wheels of 7a first, the Cycloidal Wheels of 7b second, 8 central gears, 9 planetary gears, 10 pin wheel housing axles
Hold, 11 capacity eccentric bearings.
Specific embodiment
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model, rather than whole
Embodiment.
Reference picture 1-3, a kind of precise planetary cycloid reducer, including planetary gears, cycloidal-pin wheel mechanism and input
Axle 4, planetary gears includes central gear 8 and the planetary gear 9 that engage with central gear, and cycloidal-pin wheel mechanism includes the
One Cycloidal Wheel 7a and the second Cycloidal Wheel 7b, pin tooth 2 and the eccentric shaft 5 rotated integrally with planetary gear 9, the input shaft 4 with
Central gear 8 is integrated and connects firmly, and planetary gear 9 is connected firmly with eccentric shaft 5 by spline, and planetary gear 4 has with eccentric shaft 5
Strict phase requirements, eccentric shaft 5 is driven the first Cycloidal Wheel 7a and the second Cycloidal Wheel 7b, and eccentric shaft 5 includes the first eccentric part 5a
With the second eccentric part 5b, the first Cycloidal Wheel 7a and the second Cycloidal Wheel 7b are by being arranged at the first eccentric part 5a and the second eccentric part 5b
On capacity eccentric bearing 11 coordinate with corresponding first eccentric part 5a and the second eccentric part 5b respectively, capacity eccentric bearing 11 is without inside and outside circle
Cylinder roller bearing, while the first Cycloidal Wheel 7a and the second Cycloidal Wheel 7b are engaged with pin tooth 2 also around the first eccentric part 5a and
Second eccentric part 5b is turned round, and is furnished with pin wheel housing bearing 10, eccentric shaft 5 and output planetary frame between output planetary frame 3 and pin wheel housing 1
It is furnished with planet carrier bearing 6 between 3, precise planetary cycloid reducer includes primary planet pinion mechanism and one-level cycloidal pin turbine
Structure, planetary gears is made up of central gear 8 and planetary gear 9；Cycloidal-pin wheel mechanism is by eccentric shaft 5, the first Cycloidal Wheel 7a
Tooth containing pin 2 is constituted with the second Cycloidal Wheel 7b and pin wheel housing 1, and eccentric shaft 5 is connected firmly with primary planet pinion 9, the first Cycloidal Wheel 7a and
Second Cycloidal Wheel 7b makees plane motion under the collective effect of eccentric shaft 5 and pin tooth 2, i.e., while revolution around the axis of pin wheel housing 1
Again around the reverse rotation of own axes, and its spinning motion is exported by W mechanisms, the form of cycloidal gear tooth of this decelerator is through excellent
The profile of tooth of change, can significantly improve bearing capacity and ensure good lubrication, can be used to be connected to the joint portion of industrial robot.
The above, only this utility model preferably specific embodiment, but protection domain of the present utility model is not
Be confined to this, any those familiar with the art in the technical scope that this utility model is disclosed, according to this practicality
New technical scheme and its utility model design in addition equivalent or change, all should cover in protection model of the present utility model
Within enclosing.
Claims (8)
1. a kind of precise planetary cycloid reducer, it is characterised in that：Including planetary gears, cycloidal-pin wheel mechanism and input shaft
（4）, the planetary gears include central gear（8）And with the central gear（8）The planetary gear of engagement（9）, institute
Cycloidal-pin wheel mechanism is stated including the first Cycloidal Wheel（7a）With the second Cycloidal Wheel（7b）, pin tooth（2）And with the planetary gear（9）
The eccentric shaft for rotating integrally（5）, the input shaft（4）With central gear（8）It is integrated and connects firmly, the planetary gear（9）With it is inclined
Heart axle（5）Connected firmly by spline, and planetary gear（9）With eccentric shaft（5）With strict phase requirements, the eccentric shaft
（5）It is driven the first Cycloidal Wheel（7a）With the second Cycloidal Wheel（7b）, the eccentric shaft（5）Including the first eccentric part（5a）It is inclined with second
Center portion（5b）, first Cycloidal Wheel（7a）With the second Cycloidal Wheel（7b）By being arranged at the first eccentric part（5a）It is eccentric with second
Portion（5b）On capacity eccentric bearing（11）Respectively with corresponding first eccentric part（5a）With the second eccentric part（5b）Coordinate, the pin wheel housing
（1）Inner chamber is equidistantly provided with multiple pin teeth（2）.
2. a kind of precise planetary cycloid reducer according to claim 1, it is characterised in that：The capacity eccentric bearing（11）It is nothing
The cylinder roller bearing of inside and outside circle.
3. a kind of precise planetary cycloid reducer according to claim 1, it is characterised in that：First Cycloidal Wheel（7a）With
Second Cycloidal Wheel（7b）With the pin tooth（2）Also around first eccentric part while engagement（5a）With the second eccentric part（5b）Return
Turn, in the pin tooth（2）With eccentric shaft（5）Collective effect under, Cycloidal Wheel is around pin wheel housing（1）Axis revolution, and around itself
The reverse rotation of axis.
4. a kind of precise planetary cycloid reducer according to claim 1, it is characterised in that：The output planetary frame（3）With
Pin wheel housing（1）Between be furnished with pin wheel housing bearing（10）.
5. a kind of precise planetary cycloid reducer according to claim 1, it is characterised in that：The eccentric shaft（5）With output
Planet carrier（3）Between be furnished with planet carrier bearing（6）.
6. a kind of precise planetary cycloid reducer according to claim 1, it is characterised in that：The Cycloidal Wheel（7）Flank profil
Add the equidistant curve of the curtate epicycloid of modification of equidistance for Jing corners.
7. a kind of precise planetary cycloid reducer according to claim 1, it is characterised in that：The Cycloidal Wheel and pin tooth（2）
The number of teeth difference be one or two.
8. a kind of precise planetary cycloid reducer according to claim 1, it is characterised in that：Do not changing part and assembling pass
In the case of system, fixing three kinds of different components can realize three kinds of different speed reducing ratio：
1. inner tooth shell is fixed（1）, power is from input shaft（4）Input, from planet carrier（3）Output；
2. fixed carrier（3）, power is from input shaft（4）Input, from inner tooth shell（1）Output；
3. input shaft is fixed（4）, power is from inner tooth shell（1）Input, from planet carrier（3）Output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621157593.3U CN206130000U (en) | 2016-10-25 | 2016-10-25 | Precise planetary cycloid reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621157593.3U CN206130000U (en) | 2016-10-25 | 2016-10-25 | Precise planetary cycloid reducer |
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| Publication Number | Publication Date |
|---|---|
| CN206130000U true CN206130000U (en) | 2017-04-26 |
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ID=58575917
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621157593.3U Active CN206130000U (en) | 2016-10-25 | 2016-10-25 | Precise planetary cycloid reducer |
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| CN (1) | CN206130000U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107387673A (en) * | 2017-08-28 | 2017-11-24 | 东莞巍腾思坦自动化科技有限公司 | Novel planetary knuckle-tooth formula decelerator |
| CN107420528A (en) * | 2017-08-08 | 2017-12-01 | 深圳先进技术研究院 | A kind of cycloid planetary speed reducer, plant equipment frock |
| CN107725687A (en) * | 2017-11-07 | 2018-02-23 | 江苏万基传动科技有限公司 | Accurate cycloid revolute joint decelerator |
| CN107747612A (en) * | 2017-11-07 | 2018-03-02 | 江苏万基传动科技有限公司 | Modularized Precision cycloid revolute joint decelerator |
| CN108843746A (en) * | 2018-08-15 | 2018-11-20 | 深圳市荣德机器人科技有限公司 | A kind of precision speed reduction device for robot |
| CN108953501A (en) * | 2018-09-19 | 2018-12-07 | 杭州星河传动机械研究院有限公司 | Multi-eccentric speed reducer |
| CN109210150A (en) * | 2018-11-23 | 2019-01-15 | 王海清 | Cycloid drive mechanism |
| WO2019113778A1 (en) * | 2017-12-12 | 2019-06-20 | 深圳先进技术研究院 | Cycloidal planetary speed reducer and mechanical equipment tooling |
| CN110131362A (en) * | 2019-04-22 | 2019-08-16 | 温州市日康烟具厂 | Cycloidal-pin gear speed reducer |
| WO2020233193A1 (en) * | 2019-05-22 | 2020-11-26 | 苏州华震工业机器人减速器有限公司 | Reducer for high precision control |
| CN116085452A (en) * | 2023-04-13 | 2023-05-09 | 江苏泰隆减速机股份有限公司 | Industrial robot joint RV speed reducer |
-
2016
- 2016-10-25 CN CN201621157593.3U patent/CN206130000U/en active Active
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107420528A (en) * | 2017-08-08 | 2017-12-01 | 深圳先进技术研究院 | A kind of cycloid planetary speed reducer, plant equipment frock |
| CN107387673A (en) * | 2017-08-28 | 2017-11-24 | 东莞巍腾思坦自动化科技有限公司 | Novel planetary knuckle-tooth formula decelerator |
| WO2019090900A1 (en) * | 2017-11-07 | 2019-05-16 | 殷爱国 | Precise cycloidal speed reducer for rotary joint |
| CN107725687A (en) * | 2017-11-07 | 2018-02-23 | 江苏万基传动科技有限公司 | Accurate cycloid revolute joint decelerator |
| CN107747612A (en) * | 2017-11-07 | 2018-03-02 | 江苏万基传动科技有限公司 | Modularized Precision cycloid revolute joint decelerator |
| WO2019090899A1 (en) * | 2017-11-07 | 2019-05-16 | 殷爱国 | Modular precision cycloidal rotary joint speed reducer |
| WO2019113778A1 (en) * | 2017-12-12 | 2019-06-20 | 深圳先进技术研究院 | Cycloidal planetary speed reducer and mechanical equipment tooling |
| CN108843746A (en) * | 2018-08-15 | 2018-11-20 | 深圳市荣德机器人科技有限公司 | A kind of precision speed reduction device for robot |
| CN108843746B (en) * | 2018-08-15 | 2023-12-01 | 深圳市荣德机器人科技有限公司 | Precise speed reducer for robot |
| CN108953501A (en) * | 2018-09-19 | 2018-12-07 | 杭州星河传动机械研究院有限公司 | Multi-eccentric speed reducer |
| CN109210150A (en) * | 2018-11-23 | 2019-01-15 | 王海清 | Cycloid drive mechanism |
| CN110131362A (en) * | 2019-04-22 | 2019-08-16 | 温州市日康烟具厂 | Cycloidal-pin gear speed reducer |
| CN110131362B (en) * | 2019-04-22 | 2020-05-19 | 温州市日康机械科技厂 | Cycloidal pin gear speed reducer |
| WO2020233193A1 (en) * | 2019-05-22 | 2020-11-26 | 苏州华震工业机器人减速器有限公司 | Reducer for high precision control |
| CN116085452A (en) * | 2023-04-13 | 2023-05-09 | 江苏泰隆减速机股份有限公司 | Industrial robot joint RV speed reducer |
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