CN206592492U - A kind of poor tooth reductor of high-accuracy cycloid - Google Patents
A kind of poor tooth reductor of high-accuracy cycloid Download PDFInfo
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- CN206592492U CN206592492U CN201621280186.1U CN201621280186U CN206592492U CN 206592492 U CN206592492 U CN 206592492U CN 201621280186 U CN201621280186 U CN 201621280186U CN 206592492 U CN206592492 U CN 206592492U
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- planet carrier
- cycloid
- accuracy
- eccentric shaft
- pin
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- 239000000969 carrier Substances 0.000 claims abstract description 52
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 10
- 239000010959 steel Substances 0.000 claims abstract description 10
- 239000003638 reducing agent Substances 0.000 claims description 7
- 238000010276 construction Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Abstract
The utility model is related to a kind of poor tooth reductor of high-accuracy cycloid, including pin shell and the planetary mechanism being arranged in pin shell, input gear axle is meshed with planetary gear, planetary gear is sleeved on the end of eccentric shaft, steel retainer needle bearing is set with eccentric shaft, eccentric shaft is connected by steel retainer needle bearing with Cycloidal Wheel, Cycloidal Wheel is engaged by needle roller with pin shell phase, described planet carrier includes preceding planet carrier and rear planet carrier, and preceding planet carrier and rear planet carrier are fastened fixation by hexagon socket cap head screw.A kind of described poor tooth reductor of high-accuracy cycloid, compact conformation reduces reductor axial dimension to reach loss of weight purpose, reduces bearing mnanufacture rigging error, so as to improve reductor assembling circular runout, easy to process with simple in construction, the high feature of intensity.High-precision taper pin attachment structure, it is ensured that processing and assembling homogeneity.
Description
Technical field
The utility model is related to the field of reductor, especially a kind of poor tooth reductor of high-accuracy cycloid.
Background technology
Cycloid speed reducer is a kind of application planetary drive principle, the novel transmission device engaged using cycloidal pin teeth.Pendulum
Line pin gear speed reducer whole transmission device can be divided into three parts：Importation, deceleration part, output par, c.What is used at present subtracts
Fast body product is big, and complicated, processing is inconvenient, low intensity, and low precision.
The content of the invention
The technical problems to be solved in the utility model is：In order to overcome it is above-mentioned present in problem there is provided one kind it is high-precision
The poor tooth reductor of close cycloid, its design structure is rationally and rigid good, easy to process.
The utility model solves the technical scheme that its technical problem used：A kind of poor tooth reductor of high-accuracy cycloid,
Including pin shell and the planetary mechanism being arranged in pin shell, described planetary mechanism includes one-level involute planetary reducing gear and two
Level cycloid pin gear planet speed reducer structure, described one-level involute planetary reducing gear includes input gear axle and planetary gear,
Input gear axle is meshed with planetary gear, described two grades of cycloid pin gear planet speed reducer structures include eccentric shaft, at least one
Cycloidal Wheel, planet carrier and needle roller, planetary gear are sleeved on the end of eccentric shaft, and steel retainer needle roller is set with eccentric shaft
Bearing, eccentric shaft is connected by steel retainer needle bearing with Cycloidal Wheel, and Cycloidal Wheel is engaged by needle roller with pin shell phase, described
Planet carrier include preceding planet carrier and rear planet carrier, preceding planet carrier and rear planet carrier are fastened solid by hexagon socket cap head screw
It is fixed, planetary tooth number Z=27, modulus=1.5, pressure angle=20 degree, the facewidth=5, the mould of the tooth number Z of input gear axle=9
Number=1.5, pressure angle=20 degree, the facewidth=10, tooth number Z=39 of Cycloidal Wheel, gear pin diameter=4mm, coefficient of gear pin diameter=
2.0399, curtate ratio=0.692308, eccentric throw=0.9, the facewidth=8.85, tooth number Z=40 of pin shell, gear pin diameter=
4mm, the facewidth=18, pin tooth reference diameter=104mm.
Further, in order to realize high-speed drive, it is provided between the leading portion and preceding planet carrier of described eccentric shaft
First taper roll bearing.
In order to realize high-speed drive, the rolling of the second circular cone is provided between the back segment and rear planet carrier of described eccentric shaft
Sub- bearing.
In order to realize high-speed drive, first is provided between the described lateral surface of preceding planet carrier and the medial surface of pin shell
Ball roller bearing.
In order to realize high-speed drive, second is provided between the described lateral surface of rear planet carrier and the medial surface of pin shell
Ball roller bearing.
In order to play sealed purpose, be provided with the rear end of described pin shell be used to being stuck in pin shell and rear planet carrier it
Between outside framework oil seal.
Provided with bias between the first described taper roll bearing and the medial surface and eccentric shaft of the second taper roll bearing
Axle pad piece.
Adjusting gasket is provided between the lateral surface and preceding planet carrier of the first described taper roll bearing, adjusting gasket is with before
Fixed between planet carrier by hole with jump ring clamping.
Fixed between described planetary gear and eccentric shaft by axle with jump ring clamping.
Described planetary tooth number Z=27, modulus=1.5mm, pressure angle=20 degree, the facewidth=5mm, centre-to-centre spacing
=27.5mm；Tooth number Z=9 of input gear axle, modulus=1.5mm, pressure angle=20 degree, the facewidth=10mm, centre-to-centre spacing=
27.5mm；Tooth number Z=39 of Cycloidal Wheel, gear pin diameter=4mm, coefficient of gear pin diameter=2.0399, curtate ratio=0.692308,
Eccentric throw=0.9mm, the facewidth=8.85mm；Tooth number Z=40 of pin shell, gear pin diameter=4mm, the facewidth=18mm, pin tooth point
Spend circular diameter=104mm.
The beneficial effects of the utility model are：A kind of described poor tooth reductor of high-accuracy cycloid, specific advantage is as follows：1.
Bearing built-in：Directly by the design of ball angular contact bearing bearing inner race on preceding planet carrier and rear planet carrier are cylindrical, structure is tight
Gather, reduce reductor axial dimension to reach loss of weight purpose, and built in bearing, the machining high-precision circular arc directly on part
Raceway, reduces bearing mnanufacture rigging error, so as to improve reductor assembling circular runout；
2. single poor tooth accuracy of mesh is better than two poor tooth engagements, the full tooth rolling friction contact of Cycloidal Wheel, needle roller, pin shell, rigidity
It is good.Single poor tooth engagement is more easy to realize high transmission chain error and return difference requirement, and more preferably, backlash is smaller, can avoid reductor for rigidity
Shaken during use, the excessive situation of damping vibration；
3. the attachment structure of planet frame column type taper pin 18, easy to process with simple in construction, the high feature of intensity.High accuracy cone
Pin connected construction, it is ensured that processing and assembling homogeneity.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is a kind of overall structure diagram of the poor tooth reductor of high-accuracy cycloid described in the utility model；
Fig. 2 be in Fig. 1 A-A to sectional view；
Fig. 3 is B-B direction sectional view in Fig. 1.
Accompanying drawing acceptance of the bid note is described below：1st, pin shell, 2, needle roller, the 3, first ball roller bearing, 4, hole jump ring, 5, regulation
Pad, 6, eccentric shaft pad, the 7, first taper roll bearing, 8, input gear axle, 9, preceding planet carrier, 10, interior hexagonal cylindrical head
Screw, 11, Cycloidal Wheel, 12, rear planet carrier, 13, steel retainer needle bearing, 14, axle jump ring, 15, eccentric shaft, 16, planet
Gear, 17, outside framework oil seal, the 18, second taper roll bearing, the 19, second ball roller bearing.
Embodiment
The utility model is described in further detail presently in connection with accompanying drawing.These accompanying drawings are simplified schematic diagram,
Only illustrate basic structure of the present utility model in a schematic way, therefore it only shows the composition relevant with the utility model.
The poor tooth reductor of a kind of high-accuracy cycloid as shown in Figure 1, Figure 2 and Figure 3, including pin shell 1 and be arranged in pin shell 1
Planetary mechanism, input gear axle 8 is meshed with planetary gear 16, and two grades of cycloid pin gear planet speed reducer structures include eccentric shaft
15th, at least one Cycloidal Wheel 11, planet carrier and needle roller 2, planetary gear 16 are sleeved on the end of eccentric shaft 15, eccentric shaft
Steel retainer needle bearing 13 is set with 15, eccentric shaft 15 is connected by steel retainer needle bearing 13 with Cycloidal Wheel 11,
Cycloidal Wheel 11 is meshed by needle roller 2 with pin shell 1, and planet carrier includes preceding planet carrier 9 and rear planet carrier 12, and preceding planet carrier 9 is with after
Planet carrier 12 is fastened fixation by hexagon socket cap head screw 10, and the first taper roll bearing 7 is located at before eccentric shaft 15
Between section and preceding planet carrier 9, the second taper roll bearing 18 is located between the back segment of eccentric shaft 15 and rear planet carrier 12, is being moved ahead
Between the lateral surface of carrier 9 and the medial surface of pin shell 1 be provided with the first ball roller bearing 3, rear planet carrier 12 lateral surface with
The second ball roller bearing 19 is provided between the medial surface of pin shell 1, being provided with the rear end of pin shell 1 is used to be stuck in pin shell 1 with after
Outside framework oil seal 17 between planet carrier 12, the first taper roll bearing 7 and the second taper roll bearing 18 medial surface with partially
Eccentric shaft pad 6 is provided between heart axle 15, spacer is provided between the lateral surface and preceding planet carrier 9 of the first taper roll bearing 7
Piece 5, is fixed between adjusting gasket 5 and preceding planet carrier 9 by hole with the clamping of jump ring 4, is led between planetary gear 16 and eccentric shaft 15
Cross axle to be fixed with the clamping of jump ring 14, tooth number Z=27 of planetary gear 16, modulus=1.5mm, pressure angle=20 degree, the facewidth=
5mm, centre-to-centre spacing=27.5mm；Tooth number Z=9 of input gear axle 8, modulus=1.5mm, pressure angle=20 degree, the facewidth=
10mm, centre-to-centre spacing=27.5mm；Tooth number Z=39 of Cycloidal Wheel 11, gear pin diameter=4mm, coefficient of gear pin diameter=2.0399, short width
Coefficient=0.692308, eccentric throw=0.9mm, the facewidth=8.85mm；Tooth number Z=40 of pin shell 1, gear pin diameter=4mm,
The facewidth=18mm, pin tooth reference diameter=104mm.
A kind of operation principle of the poor tooth reductor of high-accuracy cycloid of the present utility model：During whole planetary mechanism operating, pin
Shell 1 is fixed, and input gear axle 8 turns clockwise as input driving gear, then the counter clockwise direction of planetary gear 16 is certainly
Turn, and drive Cycloidal Wheel 11 to do eccentric motion by eccentric shaft 15, now, Cycloidal Wheel 11 revolves round the sun simultaneously in its axis, will also be anti-
To rotation, that is, rotate clockwise.Preceding planet carrier 9 and rear planet carrier 12 are promoted rotationally clockwise by eccentric shaft 15 simultaneously,
Planet carrier 12 is exported afterwards.The ﹙ 40-39 ﹚ of whole planetary mechanism gearratio 1+z2/z1 × z6/ (z6-z5)=1+27/9 × 40/=
121.Assemble cycloidal-pin wheel planetary mechanism when, first by eccentric shaft 15 and the steel retainer needle bearing 13 of Cycloidal Wheel 11 dress up one it is whole
Body, then this is integrally loaded in the hole being enclosed on rear planet carrier 12, the second ball roller bearing 19 and pin shell 1 are then loaded onto,
Cycloidal Wheel 11 is put into, then inserts needle roller 2 in the teeth groove that Cycloidal Wheel 11 is engaged with pin shell 1, the first ball roller bearing 3 is refilled
With preceding planet carrier 9, planetary gear 16 and input gear axle 8 are finally installed, assembling is completed.
The service condition and parameter configuration of the poor tooth reductor of a kind of high-accuracy cycloid of the present utility model：
1. reduction box teeth directional gap：Less than 1 arc point
2. output speed：24.8 revs/min
3. power of motor：4 kilowatts
4. reduction box input speed：3000 revs/min
5. rated output moment of torsion=(9550 × 4)/24.8=1540N.M
In the case of parameter more than, gradually opened with reference to Computing Principle DIN 3990Method B (YF Method C) designs
Line gear, according to general the form of cycloidal gear tooth equation computer aided calculation cycloid coordinate points, i.e. discrete point, according to discrete point
Cycloid contour curve is drawn with CAD auxiliary.Reductor backlash meets the use requirement of joint of robot reductor less than 1 arc point,
Robot arm precise positioning, it is reproducible.
Using it is above-mentioned according to desirable embodiment of the present utility model as enlightenment, pass through above-mentioned description, related work people
Member can carry out various changes and amendments in the range of without departing from this utility model technological thought completely.This reality
The content on specification is not limited to new technical scope, it is necessary to its technology is determined according to right
Property scope.
Claims (10)
1. a kind of poor tooth reductor of high-accuracy cycloid, it is characterized in that：Including pin shell (1) and the planet machine being arranged in pin shell (1)
Structure, described planetary mechanism includes one-level involute planetary reducing gear and two grades of cycloid pin gear planet speed reducer structures, described
One-level involute planetary reducing gear includes input gear axle (8) and planetary gear (16), input gear axle (8) and planetary gear
(16) it is meshed, described two grades of cycloid pin gear planet speed reducer structures include eccentric shaft (15), at least one Cycloidal Wheel (11), OK
Carrier and needle roller (2), planetary gear (16) are sleeved on the end of eccentric shaft (15), and steel holding is set with eccentric shaft (15)
Frame needle bearing (13), eccentric shaft (15) is connected by steel retainer needle bearing (13) with Cycloidal Wheel (11), Cycloidal Wheel
(11) it is meshed by needle roller (2) with pin shell (1), described planet carrier includes preceding planet carrier (9) and rear planet carrier (12), moves ahead
Carrier (9) and rear planet carrier (12) are fastened fixation by hexagon socket cap head screw (10).
2. the poor tooth reductor of a kind of high-accuracy cycloid according to claim 1, it is characterized in that:Described eccentric shaft (15)
The first taper roll bearing (7) is provided between leading portion and preceding planet carrier (9).
3. the poor tooth reductor of a kind of high-accuracy cycloid according to claim 1, it is characterized in that:Described eccentric shaft (15)
The second taper roll bearing (18) is provided between back segment and rear planet carrier (12).
4. the poor tooth reductor of a kind of high-accuracy cycloid according to claim 1, it is characterized in that:Described preceding planet carrier (9)
Lateral surface and pin shell (1) medial surface between be provided with the first ball roller bearing (3).
5. the poor tooth reductor of a kind of high-accuracy cycloid according to claim 1, it is characterized in that:Described rear planet carrier (12)
Lateral surface and pin shell (1) medial surface between be provided with the second ball roller bearing (19).
6. the poor tooth reductor of a kind of high-accuracy cycloid according to claim 1, it is characterized in that:After described pin shell (1)
The outside framework oil seal (17) for being used for being stuck between pin shell (1) and rear planet carrier (12) is provided with end.
7. the poor tooth reductor of a kind of high-accuracy cycloid according to claim 2, it is characterized in that:The first described taper roller
Eccentric shaft pad (6) is provided between bearing (7) and the medial surface and eccentric shaft (15) of the second taper roll bearing (18).
8. the poor tooth reductor of a kind of high-accuracy cycloid according to claim 2, it is characterized in that:The first described taper roller
Adjusting gasket (5) is provided between the lateral surface and preceding planet carrier (9) of bearing (7), between adjusting gasket (5) and preceding planet carrier (9)
Fixed by hole with jump ring (4) clamping.
9. the poor tooth reductor of a kind of high-accuracy cycloid according to claim 1, it is characterized in that:Described planetary gear (16)
Fixed between eccentric shaft (15) by axle with jump ring (14) clamping.
10. the poor tooth reductor of a kind of high-accuracy cycloid according to claim 1, it is characterized in that:Described planetary gear
(16) tooth number Z=27, modulus=1.5mm, pressure angle=20 degree, the facewidth=5mm, centre-to-centre spacing=27.5mm；Input gear
Tooth number Z=9 of axle (8), modulus=1.5mm, pressure angle=20 degree, the facewidth=10mm, centre-to-centre spacing=27.5mm；Cycloidal Wheel
(11) tooth number Z=39, gear pin diameter=4mm, coefficient of gear pin diameter=2.0399, curtate ratio=0.692308, eccentric throw=
0.9mm, the facewidth=8.85mm；Tooth number Z=40 of pin shell (1), gear pin diameter=4mm, the facewidth=18mm, pin tooth reference circle is straight
Footpath=104mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621280186.1U CN206592492U (en) | 2016-11-21 | 2016-11-21 | A kind of poor tooth reductor of high-accuracy cycloid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621280186.1U CN206592492U (en) | 2016-11-21 | 2016-11-21 | A kind of poor tooth reductor of high-accuracy cycloid |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206592492U true CN206592492U (en) | 2017-10-27 |
Family
ID=60130535
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621280186.1U Active CN206592492U (en) | 2016-11-21 | 2016-11-21 | A kind of poor tooth reductor of high-accuracy cycloid |
Country Status (1)
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108167394A (en) * | 2017-12-27 | 2018-06-15 | 华南智能机器人创新研究院 | A kind of rotating base and cylindrical-coordinate system robot |
| CN109139815A (en) * | 2018-11-07 | 2019-01-04 | 珠海飞马传动机械有限公司 | A kind of closed cycloid speed reducer of industrial robot high-precision |
| WO2019120035A1 (en) * | 2017-12-22 | 2019-06-27 | 深圳新创技术研究有限公司 | Rolling cycloid planetary transmission mechanism |
-
2016
- 2016-11-21 CN CN201621280186.1U patent/CN206592492U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019120035A1 (en) * | 2017-12-22 | 2019-06-27 | 深圳新创技术研究有限公司 | Rolling cycloid planetary transmission mechanism |
| CN108167394A (en) * | 2017-12-27 | 2018-06-15 | 华南智能机器人创新研究院 | A kind of rotating base and cylindrical-coordinate system robot |
| CN108167394B (en) * | 2017-12-27 | 2020-01-24 | 华南智能机器人创新研究院 | Rotating base and cylindrical coordinate system robot |
| CN109139815A (en) * | 2018-11-07 | 2019-01-04 | 珠海飞马传动机械有限公司 | A kind of closed cycloid speed reducer of industrial robot high-precision |
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