CN207018448U

CN207018448U - Epicyclic speed reducer

Info

Publication number: CN207018448U
Application number: CN201720048506.9U
Authority: CN
Inventors: 袁正敏
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-01-17
Filing date: 2017-01-17
Publication date: 2018-02-16
Anticipated expiration: 2027-01-17

Abstract

The utility model discloses a kind of epicyclic speed reducer, two-stage cycloid wheel assembly B_1、B₂, by the first order curved bar Q of input shaft₁Position whether in center O points, be divided into two kinds of solid type and hollow type, the first order curved bar Q of solid type₁It is arranged in upper end cover S₁Make centering rotation, second level cycloid wheel assembly B on the center O points of output end₂Hypocycloid gear ring it is cylindrical on be formed with housing K by straight pin and ring flange₁Semi-circle pin holes are connected as overall static element；First order cycloid wheel assembly B₁With second level curved bar Q₂It is arranged in first order curved bar Q₁With second level cycloid wheel assembly B₂Between the two, planetary motion is made；Upper end cover S₁The ring flange housing K that output end passes through sealing₁, built-in zanjon bearing 2 and rearmounted bearing 3 connect whole planetary motion parts, realize the π of ＞ 2 low speed rotation.

Description

Epicyclic speed reducer

Technical field

The utility model belongs to mechanical transmission fields, is related to one kind and forms Meshing Pair with Cycloidal Wheel, curved bar, is transported by planet Dynamic and composition reductor, abbreviation epicyclic speed reducer.

Background technology

Planet cycloid speed reducer is that one kind applies Gear Planet Transmission principle, is engaged using cycloidal-pin wheel, advanced design, structure are new The reducing gear of grain husk.This reductor has substituted two-stage, three-level common cylinder gear reduction unit and circle in most cases Post worm decelerating machine.In the prior art, by the use of cycloid as tooth curve, deceleration device is formed using planetary body , early there is application, the applicant is only from the more product of current 1 application and 1 patent authorized in 2008, as technology Background is described, and RV formula E types and c-type reductor are that more product is applied on current industrial robot, but have lower column defects: It is not merely to be formed with cycloidal engagement pair, but employs and composition is mixed with involute Meshing Pair, and is in its c-type Composition centre bore, employ have in three-level transmission one-level not slow down but ' the waste behavior ' of speedup.Its primary transmission In involute gear Meshing Pair, must there are sideshake and backlash, press《RV technical data collection》Carry：Sideshake 0.035-0.18.Backlash 1 Arc point '.Transmission rigidity and positioning precision must be lost, in order to solve this problem, must set up that ' amendment is arranged in other side Apply '.Its whole level transmission is type cycloidal pin-wheel planetary reducing gears, the track of its planetary motion, is to lean on 4 parts to maintain；Its The transmission chain of moment of torsion, formed again by other 4 parts on the motion chains that up to 8 parts are formed, its operational terminal Positioning precision, it is unavoidable ' accumulated error ' occur, so at this《RV reductor technical data》In P57-58, though with " spring constant " (such as in RV-100C types, during moment of torsion 100kgf.m, dally 1 arc.min；And spring constant is also up to 52 kgf.m/arc.min) Carry out euphemistic expression, but be also difficult to conceal truth.It does not have self-locking performance, and production accident or safety can be occurred by inertial drive in the moment that has a power failure Accident.For that purpose it is necessary to ' electricity loss brake ' is installed.Its number of parts is very more, is more than 2 times of the Cycloidal Wheel number of teeth, presses《RV Reductor technical data collection》P91, from structure chart, individual part more than 80, and wherein most of parts can be clearly counted Require that machining accuracy is high, this structure in itself, is not suitable with upcoming 3D printing technique characteristic, suffered exit unavoidably May.

China Patent No. ZL200610001307.9 is disclosed a kind of " hypocycloid planetary driving device ", and the device uses The feature of " birdcage output shaft ", " planetary gear " of " multiple power transmission pins " composition, its architectural feature and cycloidal planetary gear speed reducer has Many general character, simply by epicycloidal gear, hypocycloid gear ring, the two-dimensional coordinate parametric equation formula of its cycloid are changed to, parameter connects Closely, item number is identical, when running into the calculating that rolling circle radius are added with base radius, only plus sige need to be changed to minus sign just, and How many characteristic changed with not remoulding oneself thoroughly.Strictly speaking, it is the derivative of cycloidal planetary gear speed reducer, is not really real justice Innovation and invention in meaning." have and adjust gap function, can reduce gap return difference ... " described in it is exactly to recognize there is between cog Sideshake and return difference.

So the shortcomings that above-mentioned RV formulas reductor, remains on presence in the art." in addition, Cycloidal Wheel correction of the flank shape theory Recent studies on achievement, the transmission accuracy and bearing capacity ... of decelerator can be improved ".It is reported that domestic more families copy the factory of RV formulas Family, has many Chang Jia Walk to enter this trap, perverse so far.Actually " Cycloidal Wheel correction of the flank shape is theoretical " is a pseudo- proposition, because The scientific definition of " cycloid " title has been run counter to for it：" circle（It is round as a ball）Along another fixed circle（Basic circle）Make non-sliding rolling, roll The round week upper track of a bit, is exactly cycloid." please note：Definition " ", is exactly to show by mathematical logic on round as a ball circumference a bit The saying of " any point on circumference ", can not at will turn a blind eye to.Meanwhile《Engineering mathematics》Also clearly refer in related data Go out：" one of three big feature ... of cycloid is that cycloid engagement changes sensitive to distance between axles." therefore, " correction of the flank shape opinion " person, Bi is Dinged Mian and faced Two hang-ups：It is first, round as a ball（Its short width or its translation away from）After turning into " non-circular " by " correction of the flank shape ", be can not cry " round as a ball " or " non-sliding rolling ".It is second, round as a ball（Its short width or its translation away from）After turning into " non-circular " by " correction of the flank shape ", between centers is necessarily resulted in Away from（Gap）Change, it can not exclude " changing to distance between axles sensitive ".So somebody has spent plenty of time, energy and warp Take, there is no a successfully report so far.Why RV formulas reductor is adapted to the use of joint of robot axle, is because it has two Individual key character：First, " the discus shape " of more than 2 times more than axial dimension of radial dimension；Two are easy for threading, wearing the " center of axle Hole " (RV-C).But should《Recommendation data》Photo eigen does not have the two essential conditions.

The content of the invention

The utility model for above-mentioned prior art there are problems that shortcoming and, there is provided a kind of difficulty of processing is smaller, is produced into This is lower, without " backlash " caused by involute Meshing Pair, only can also form sufficiently large " center with secondary transmission Hole ", the epicyclic speed reducer only formed with cycloidal engagement pair.

The utility model solves its technical problem the technical scheme adopted is that a kind of epicyclic speed reducer, including：The One-level cycloid wheel assembly B₁.. second level cycloid wheel assembly B₂, wherein, first order curved bar Q₁Nibbled with the first order cycloid composition first order Close secondary, second level cycloid curved bar Q₂Form second level Meshing Pair, it is characterised in that：By the first order curved bar Q of input shaft₁Position Whether in center O points, two-stage cycloid wheel assembly B_1、B₂It is divided into two kinds of solid type and hollow type, in solid type, first order curved bar cloth Put and make centering rotation on center O points, second level cycloid wheel assembly is ring gear, is connected as by straight pin and shell flange disk Static element, first order cycloid wheel assembly and second level curved bar be arranged in both first order curved bar and second level cycloid wheel assembly it Between, make planetary motion, output end connects whole planetary motion parts by bearing, realizes the π of ＞ 2 low speed rotation；In hollow type, Second level cycloid wheel assembly is ring gear, and affixed by straight pin and shell flange is static element；First and second grade of curved bar and One-level cycloid wheel assembly is arranged between 0 point of center and second level cycloid wheel assembly, makees planetary motion, and output end is connected by bearing Whole planetary motion parts are connect, realize the low speed rotation in the range of≤2 π.

The utility model has the advantages that compared to prior art：

Difficulty of processing is smaller, and production cost is lower.The utility model part sum only has the 1/5 of above two reductor- 1/4.Calculated by comparison of design, in same size model, identical input, output function parameter, identical appearance size, identical essence Under conditions of degree, difficulty of processing is smaller, and production cost is lower.

Do not have " backlash " caused by involute Meshing Pair.The utility model is formed using cycloid wheel assembly and curved bar Meshing Pair, by secondary transmission deceleration is formed, the part of every grade of driving-chain only has 2；And without tooth form sideshake, part Feature has：Minimum number, simple shape, and size is thick, fertile, short, thick, and only slow down, " wasting and going without speedup For ", motion rigidity and positioning precision can be improved.Gear range can reach 39-and 199.

There is auto-lock function, exempt to fill electricity loss brake.On two disks in the middle part of the utility model curved bar, zanjon axle is installed Hold, gap is left close to the one side of cycloid wheel assembly in bearing outer ring, be equipped with bearing outer ring away from the one side of cycloid wheel assembly Bearing block, bearing block section are arch, but two wedge angle are cut for the Ping Mian that are parallel to each other；And in its peripheral arc edge The inside dimension of block, just matched with the Outside Dimensions of bearing block；The periphery of arc insert is output end；Have outside output end Screw fixes arc insert, prevents bearing block from rotating.Reduce equipment volume, fund and the electricity of long-term use in terms of electrical equipment Take.

The utility model is suitable for numerically-controlled milking composite machine tool processing, and future is also suitable for the technique of 3D printing technique, real Now high accuracy, the production requirement of high efficiency.

Brief description of the drawings

In order to be more clearly understood that the utility model, now by embodiment, referring concurrently to accompanying drawing, further retouch in detail The utility model is stated, wherein：

Fig. 1 is the longitudinal sectional view of solid type epicyclic speed reducer.

Fig. 2 is Fig. 1 A direction views.

Fig. 3 is the longitudinal sectional view of hollow type epicyclic speed reducer.

Fig. 4 is Fig. 3 B direction views.

Fig. 5 is E-E broken section enlarged drawings.

Fig. 6 is F-F broken section enlarged drawings.

In figure：K. housing parts：K₁Ring flange housing；K₂Flange lid housing, S. output ends：S₁Upper end cover；S₂Lower end Lid；B. cycloid wheel assembly：B₁First order cycloid wheel assembly；B₂Second level cycloid wheel assembly, Q. curved bars：Q₁First order curved bar； Q₂Second level curved bar Q2.1. thin-wall bearing, 2. zanjon bearings, 3. bearings, 4. bearing blocks, 5. arc inserts, 6. circular-patch, 7. screw, 8. rivets, 9. seals, 10. straight pins.

Embodiment

Refering to Fig. 1-Fig. 6.In embodiment described below, a kind of epicyclic speed reducer, including：First order Cycloidal Wheel Assembly B₁.. second level cycloid wheel assembly B₂, wherein, first order curved bar Q₁With first order cycloid form first order Meshing Pair, second Level cycloid curved bar Q₂Form second level Meshing Pair.Two-stage cycloid wheel assembly B_1、B₂, by the first order curved bar Q of input shaft₁Position be It is no in center O points, be divided into two kinds of solid type and hollow type, the first order curved bar Q of solid type₁It is arranged in upper end cover S₁Output end Make centering rotation, second level cycloid wheel assembly B on center O points₂Hypocycloid gear ring it is cylindrical on be formed with by straight pin 10 with The housing K of ring flange₁Semi-circle pin holes are connected as overall static element；First order cycloid wheel assembly B₁With second level curved bar Q₂It is arranged in First order curved bar Q₁With second level cycloid wheel assembly B₂Between the two, planetary motion is made；Upper end cover S₁Output end is by screw with End cap S₂Output end forms rigid entirety；In the upper and lower of ring flange housing, and upper end cover S₁Output end, bottom end cover S₂Output Between end, two thin-wall bearings are arranged；First order curved bar Q₁With second level curved bar Q₂It is equipped with two disk rotaries swivel at middle part Two zanjon bearings 2, have arc insert 5, circular-patch 6 outside zanjon bearing 2 by screw while be positioned at upper end cover S₁On； Upper end cover S₁The ring flange housing K that output end passes through sealing₁, built-in zanjon bearing 2 and rearmounted bearing 3 connect whole planetary motions Part, realize the π of ＞ 2 low speed rotation；In hollow type, second level cycloid wheel assembly B₂It is formed with hypocycloid gear ring, hypocycloid gear ring Pass through straight pin 10 and ring flange housing K₁Affixed is static element；First order cycloid wheel assembly B₁With second level curved bar Q₂It is arranged in First order curved bar Q₁With second level cycloid wheel assembly B₂Between the two, planetary motion is made；First order curved bar Q₁It is arranged in upper end cover S₁ The eccentric O of output end₁On point, make centering rotation relative to output end, with respect to housing K₁Make planetary motion；First as input shaft Level curved bar Q₁Back and forth movement can only be made around center O points in the range of the π of ＜ 2.

S is covered in output end₁With lower cover S₂Whole planetary motion parts are connected by bearing (2,3), realize the π scopes of the anglec of rotation≤2 Interior low speed rotation.

First order curved bar Q_1、, second level curved bar Q₂On two disks at middle part, zanjon bearing 2 is installed, in bearing outer ring Close to cycloid wheel assembly B_1、B₂One side leave gap, deviate from cycloid wheel assembly B in bearing outer ring_1、B₂One side be equipped with bearing block 4。

Bearing block section is arch, but two wedge angles of its arch are processed as the Ping Mian that are parallel to each other；And outside it The inside dimension of arc insert 5, just the Outside Dimensions with bearing block 4 match.

The outside of arc insert 5 is output end S；There is bolt 7 to fix arc insert 5 outside output end S, prevent bearing block 4 rotations.

Architectural feature and applicable performance detail list

Note：It is centering movement parts during primary transmission, no planetary motion part.Secondary transmission compares scope：10 × 4- of minimum value 1=39；Maximum 20 × 10-1=199.Preferred value, it is only for reference, if necessary, it is not limited.

In sum, the utility model epicyclic speed reducer, driving-chain is most short, and without sideshake, can improve motion rigidity And positioning precision.Number of parts is minimum, simple shape, and size is thick, fertile, short, thick, is suitable for numerically-controlled milking composite machine tool at present Processing, future are also suitable for the technique of 3D printing technique, realize high accuracy, the production requirement of high efficiency.

Meanwhile there is auto-lock function, exempt to fill electricity loss brake.Reduce equipment volume in terms of electrical equipment, investment and long-term The electricity charge used.To adapt to the special reduction gear of industrial robot, extremely beneficial excellent condition is created.

It the foregoing is only preferred embodiment of the present utility model, it is noted that for one of ordinary skill in the art For, the several modifications and improvements made, it is three such as by secondary transmission increase on the premise of the utility model principle is not departed from Level transmission etc., it also should be regarded as the protection domain for belonging to the utility model patent power.

Claims

1. a kind of epicyclic speed reducer, including：First order cycloid wheel assembly（B₁）, second level cycloid wheel assembly（B₂）, wherein, First order curved bar（Q₁）First order Meshing Pair, second level cycloid curved bar are formed with first order cycloid（Q₂）Second level Meshing Pair is formed, It is characterized in that：By the first order curved bar of input shaft（Q₁）Position whether in center O points, two-stage cycloid wheel assembly（B_1、B₂）Point For two kinds of solid type and hollow type, in solid type, first order curved bar（Q₁）It is arranged on center O points and makees centering rotation, the second level Cycloid wheel assembly is ring gear, and static element, first order cycloid wheel assembly and second are connected as by straight pin and shell flange disk Level curved bar（Q₂）It is arranged in first order curved bar and second level cycloid wheel assembly between the two, makees planetary motion, output end passes through axle The whole planetary motion parts of connection are held, realize the π of ＞ 2 low speed rotation；In hollow type, second level cycloid wheel assembly is ring gear, Affixed by straight pin and shell flange is static element；First and second grade of curved bar and first order cycloid wheel assembly are arranged in center O Point and second level cycloid wheel assembly（B₂）Between, make planetary motion, output end connects whole planetary motion parts by bearing, realizes Low speed rotation in the range of≤2 π.

2. the epicyclic speed reducer as described in claim 1, it is characterised in that covered in output end（S₁）And lower cover（S₂）Pass through axle Hold (2,3) and connect whole planetary motion parts, realize the low speed rotation in the range of the π of the anglec of rotation≤2.

3. the epicyclic speed reducer as described in claim 1 or 2, it is characterised in that first order curved bar（Q₁）, second level curved bar （Q₂）On two disks at middle part, zanjon bearing is installed（2）, in bearing outer ring close to first order cycloid wheel assembly（B₁）, second Level cycloid wheel assembly（B₂）One side leave gap, deviate from cycloid wheel assembly first order cycloid wheel assembly in bearing outer ring（B₁）, Two level cycloid wheel assembly（B₂）One side be equipped with bearing block (4).

4. the epicyclic speed reducer as described in claim 1 or 2, it is characterised in that bearing block section is arch, but its arch Two wedge angles are processed as the plane being parallel to each other；And the arc insert outside it（5）Inside dimension, just with bearing block （4）Outside Dimensions match.

5. the epicyclic speed reducer as described in claim 1 or 2, it is characterised in that arc insert（5）Outside be output end （S）；Output end（S）There is bolt (7) outside by arc insert（5）It is fixed, prevent bearing block（4）Rotation.