CN207093691U - A kind of cycloidal ball deceleration device and its joint of robot - Google Patents
A kind of cycloidal ball deceleration device and its joint of robot Download PDFInfo
- Publication number
- CN207093691U CN207093691U CN201721031991.5U CN201721031991U CN207093691U CN 207093691 U CN207093691 U CN 207093691U CN 201721031991 U CN201721031991 U CN 201721031991U CN 207093691 U CN207093691 U CN 207093691U
- Authority
- CN
- China
- Prior art keywords
- msub
- mrow
- steel ball
- cycloidal
- cycloid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of cycloidal ball deceleration device and its joint of robot, belong to speed reduction gearing field.Cycloidal ball deceleration device of the present utility model, including input shaft, planetary plate, spider and steel ball group, the planetary plate, spider and steel ball group, which match, is combined into Cycloid Ball Transmission mechanism, the input shaft has gearratio of cycloid axle formation, cylinder roller bearing is housed in gearratio of cycloid axle formation, the outer ring of planetary plate endoporus and cylinder roller bearing is connected, the teeth groove that there is tooth form to be correction of the flank shape hypocycloid on the end face of the spider, and it is the epicycloidal teeth groove of correction of the flank shape to have tooth form on the end face of planetary plate.The device can effectively lift its actual bearing capacity and service life on the basis of small speed is possessed than performance；And this deceleration device more adapts to industrial robot joint, the requirement especially suitable for high speed transfer robot electronic rotation type joint.
Description
Technical field
Speed reduction gearing technical field is the utility model is related to, slows down more specifically to a kind of cycloidal ball and fills
Put and its joint of robot.
Background technology
At present, industrial robot joint deceleration device species is various, including RV decelerators, harmonic speed reducer and cycloidal ball
Decelerator etc..Although wherein RV decelerators, harmonic speed reducer bearing capacity are stronger, its fast ratio typically larger than 30, it is not suitable for height
The running speed requirement of fast transfer robot.Method of Cycloid Steel Ball Reducer is two teeth difference planetary reducer, although it possesses at a high speed
The advantages of small speed needed for transfer robot compares, zero back clearance, but there is also Meshing Pair insufficient lubrication, tooth form Yi Genqie, constant speed machine
The problems such as structure carrying is bad, causing this kind, decelerator power density is relatively low, load capacity is poor, service life is shorter, therefore
Using less in industrial robot.At present, need badly one kind have concurrently zero back clearance, small speed than the advantages that, and bearing capacity, intensity and longevity
The stronger industrial robot joint deceleration device of life.
China Patent No. 99202368.8, publication date September in 2000 27 days, disclose a entitled " close pearl cycloid steel
The patent document of ball decelerator ", it, which is included on input shaft, eccentric shaft and balance weight, is installed outside eccentric shaft and is provided with hypocycloid rolling
The eccentric disc in road, connected, be connected with output shaft and in side with anti-rotation mechanism between eccentric disc side and rubbing surface of end cover
It is provided with the output panel of epicycloid raceway, the intensive steel ball gear equipped with steel ball composition, shape between two raceways of eccentric disc and output panel
Into engaged transmission.In decelerator described in the patent, the steel ball between cycloid raceway uses intensive installation, and it is close to improve power in theory
Degree, but lubricating grease thickness parameter between the non-steely ball gauge of cycloid raceway central equation and steel ball provided in patent, i.e., do not consider
The influence of steel ball size error, the lubricating grease gap between each steel ball is not reserved yet, causes each steel ball of intensive installation not
Separated through lubricating grease, direct extrusion abrasion between steel ball.Therefore decelerator described in the patent easily goes out under real use state
The problems such as existing insufficient lubrication, abrasion aggravation, bearing capacity is still poor with service life.
China Patent No. 201410101989.5, publication date on June 25th, 2014, disclose that a entitled " single-stage is hard
The patent document of flank of tooth cycloidal ball planet reductor ", it includes casing, input shaft, eccentric bushing, steel ball group, end cap, end cap
Disk, cross plate, planetary plate, spider, output shaft, pre-load nut, bearing support, bearing (ball) cover.The reductor uses K-H-V types
The basic structure of single-stage small Tooth Number Difference Planetary Transmission, using the inside and outside cycloid groove on spider and planet side surface as flank profil, with steel
Ball is contacted by 4 points of steel ball and cycloid groove and eliminates backlash, while be equipped with no backlash cross steel as mediator engaged transmission
Ball constant speed drive mechanism, there is the advantages of simple in construction, small volume, zero backlash, high transmission accuracy, efficiency high.Described in the patent
In reductor, each group level trough of composition cross steel ball constant speed drive mechanism, vertical channel are easily caused each due to its inhomogeneities
Load skewness between groove, reductor smoothness of operation is reduced, trigger vibration reduction of service life.
Utility model content
1. utility model technical problems to be solved
The purpose of this utility model is to overcome the fast smaller but actual bearer energy of Method of Cycloid Steel Ball Reducer in the prior art
The poor deficiency of power, there is provided a kind of cycloidal ball deceleration device, the mechanism is on the basis of small speed is possessed than performance, Ke Yiyou
Effect lifts its actual bearing capacity and service life；It is especially suitable and this deceleration device more adapts to industrial robot joint
Requirement for high speed transfer robot electronic rotation type joint.
2. technical scheme
To reach above-mentioned purpose, technical scheme provided by the utility model is：
A kind of cycloidal ball deceleration device of the present utility model, including input shaft, planetary plate, spider and steel ball group, institute
State planetary plate, spider and the matching of steel ball group and be combined into Cycloid Ball Transmission mechanism, the input shaft has gearratio of cycloid axle formation, eccentric
Cylinder roller bearing, the outer ring mating connection of planetary plate endoporus and cylinder roller bearing, the end of the spider are housed on shaft part
There is the teeth groove that tooth form is correction of the flank shape hypocycloid, it is the epicycloidal teeth groove of correction of the flank shape to have tooth form on the end face of planetary plate on face.
Further improved as the utility model, the teeth groove in the planet side surface is using containing parameter combination Z0(h
+ Δ)/2 π correction of the flank shape external cycloidal teeth-shaped, the correction of the flank shape external cycloidal teeth-shaped equation is：
R in formula0--- steel ball component cloth radius of circle；
Z0--- the steel ball number of steel ball group；
H --- the lubricating grease thickness between steel ball；
Δ --- steel ball gauge；
K --- cycloid curtate ratio；
r0--- radius of circle occurs for cycloid；
θ1--- epicycloid generates angle.
Further improved as the utility model, the teeth groove in the center side surface is using containing parameter combination Z0(h
+ Δ)/2 π correction of the flank shape hypocycloid tooth form, the correction of the flank shape hypocycloid gear shape equation is：
R in formula0--- steel ball component cloth radius of circle；
Z0--- the steel ball number of steel ball group；
H --- the lubricating grease thickness between steel ball；
Δ --- steel ball gauge；
K --- cycloid curtate ratio；
r0--- radius of circle occurs for cycloid；
θ2--- hypocycloid generates angle.
Further improved as the utility model, the correction of the flank shape external cycloidal teeth-shaped equation and correction of the flank shape hypocycloid tooth form
The parameter of equation is constrained by not root tangent condition, and root tangent condition is not：
R in formula --- steel ball radius；
R0--- steel ball component cloth radius of circle；
Z0--- the steel ball number of steel ball group；
K --- cycloid curtate ratio；
Z1--- the number of teeth of teeth groove in planet side surface；
The flute profile angle of β --- teeth groove.
Further improved as the utility model, the device also includes cross steel ball constant speed drive mechanism, and it includes
Planetary plate, steel ball group, cross plate and end cap disk；The end cap disk is connected by screw group with end cap, end cap by screw group with
Casing 5 is connected；Spider 7 is fixed on a side end face of flange by screw group, and flange is connected with casing by crossed roller bearing
Connect, the end cap and flange pass through bearing and input axis connection.
Further improved as the utility model, on the end face that the planetary plate, cross plate, end cap disk are engaged
Straight-line groove is uniformly equally spaced on its distribution circle.
Further improved as the utility model, the quantity n of straight-line groove is determined by parameter type：
The length of l in formula --- straight-line groove；
R --- steel ball radius；
R1--- the distribution radius of circle of straight-line groove.
Further improved as the utility model, the length l of straight-line groove is determined by parameter type：
L ＞ 2r+e；
R in formula --- steel ball radius；
E --- input shaft eccentric throw.
A kind of joint of robot of dress that slows down with cycloidal ball of the present utility model, it is defeated in cycloidal ball deceleration device
Enter axle with the power output shaft of motor to be connected, casing is connected in the fixing end of joint of robot with motor, and the power of motor is by defeated
Enter axle input, planetary plate is passed to by cylinder roller bearing thereon, planetary plate promotes spider rotation, method by steel ball group
The blue round end again with joint of robot is connected, so as to drive joint of robot to rotate.
A kind of joint of robot of cycloidal ball deceleration device of the present utility model, the input in cycloidal ball deceleration device
Axle is connected with the power output shaft of motor, and flange is connected in the fixing end of joint of robot, the low speed rotation of planetary plate 9 with motor
By enhanced cross steel ball constant speed drive mechanism, constant-speed transmission can be with end cap disk rotation to end cap disk, casing, and casing is again
It is connected with the round end of joint of robot, so as to drive joint of robot to rotate.
3. beneficial effect
Using technical scheme provided by the utility model, compared with prior art, have the advantages that：
(1) a kind of cycloidal ball deceleration device of the present utility model, the enhanced Cycloid Ball Transmission mechanism described in it
In, it is not close-packed arrays between each steel ball of steel ball group, but parameter combination Z is left between each steel ball0(h+Δ)/2π
Identified minim gap d, and according to corresponding to the parameter combination obtains cycloid gullet correction of the flank shape hypocycloid gear shape equation with repairing
Shape external cycloidal teeth-shaped equation；Pass through parameter combination Z0It is big that the minim gap that the π of (h+ Δs)/2 is determined can provide steel ball actual diameter
The required space of the margin of error, avoids the excessive compression between steel ball when nominal diameter；And can provides the required space of lubricating grease,
The lubricant environment between steel ball is ensure that, so as to effectively lift the actual life of deceleration device.
(2) a kind of cycloidal ball deceleration device of the present utility model, in Cycloid Ball Transmission mechanism, correction of the flank shape external cycloidal teeth-shaped
The parameter of equation and correction of the flank shape hypocycloid gear shape equation is constrained by not root tangent condition, to ensure the radius of curvature at teeth groove tooth root
Consistently greater than steel ball radius, avoid the teeth groove on planetary plate and center side surface that root occurs and cut, so as to reduce between steel ball and teeth groove
Contact stress, reduce the abrasion of steel ball and teeth groove.It is computed, without the teeth groove that root tangent condition is not designed, steel ball and teeth groove
Between Max.contact stress be about 6 × 104MPa；By the teeth groove that root tangent condition is not designed, between steel ball and teeth groove most
Large contacting stress is less than 3000MPa, and the two reduces 20 times compared to contact stress.Therefore, possess the described of above-mentioned technical proposal
Enhanced joint of robot deceleration device, contact stress when steel ball engages with teeth groove can be effectively reduced, enhancing, which is slowed down, to be filled
The bearing capacity and service life put.
(3) a kind of cycloidal ball deceleration device of the present utility model, in enhanced cross steel ball constant speed drive mechanism, planet
Each straight-line groove on the end face of disk, cross plate and end cap disk is uniformly equally spaced on its distribution circle, and to the number of straight-line groove
There is physical dimension limitation with length, to prevent straight-line groove interference and steel ball stuck.By being uniformly equally spaced for each straight-line groove, carry
Load is distributed between each straight-line groove uniformity and the smoothness of operation of deceleration device have been risen, has reduced vibration；Pass through each straight line
Uniformly being equally spaced for groove, takes full advantage of the distribution space of circles of straight-line groove, considerably increases the quantity of straight-line groove, reduce list
Load on individual straight-line groove, therefore, possess the enhanced joint of robot deceleration device of above-mentioned technical proposal, enhance ten
This weak link of word steel ball constant speed drive mechanism, enhance the bearing capacity of deceleration device.
(4) the utility model whole technical scheme is implemented around lifting bearing capacity and service life, does not change
Existing Method of Cycloid Steel Ball Reducer two teeth difference the number of teeth proportioning, therefore, the joint of robot deceleration device be applied to robot it
Afterwards while bearing capacity is lifted with service life, the characteristic of small fast ratio is remained, it is electronic suitable for high speed transfer robot
The running speed requirement in rotary-type joint.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is A-A in Fig. 1 to sectional view；
Fig. 3 is the B-B direction profile in Fig. 1；
Fig. 4 is C-C in Fig. 1 to profile；
Fig. 5 is D-D in Fig. 1 to profile；
Fig. 6 is the structure chart of the intensive installation of the spacing of steel ball zero in cycloid gullet；
Fig. 7 is the structure chart for reserving minim gap installation in cycloid gullet between steel ball；
Fig. 8 is structure chart when cycloid gullet root is cut；
Fig. 9 is structure chart when cycloid gullet unrooted is cut；
Figure 10 is contact stress variation diagram when cycloid gullet root is cut；
Figure 11 is contact stress variation diagram when cycloid gullet unrooted is cut；
Figure 12 is the structure chart of cross steel ball constant speed drive mechanism cathetus groove nonuniform mutation operator；
Figure 13 is the structure chart of the uniform equidistant placement of cross steel ball constant speed drive mechanism cathetus groove；
Figure 14 is that the utility model is implemented in joint of robot, structure chart when casing is fixed, flange exports；
Figure 15 is that the utility model is implemented in joint of robot, structure chart when flange is fixed, casing exports.
Label declaration in schematic diagram：
1-sealing device；2-baffle plate；3-flange；4-stressed coil；
5-casing；6-crossed roller bearing；7-spider；8-steel ball group；
9-planetary plate；10-steel ball group；11-cross plate；12-end cap disk；
13-end cap；14-input shaft end cap；15-input shaft；16-balance counterweight；
17-cylinder roller bearing；18-motor.
Embodiment
To further appreciate that present disclosure, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
With reference to Fig. 1, a kind of cycloidal ball deceleration device of the present embodiment, including cross steel ball constant speed drive mechanism and cycloid
Ball planet transmission mechanism, cross steel ball constant speed drive mechanism is mainly by planetary plate 9, steel ball group 10, cross plate 11, end cap disk 12
Composition, Cycloid Steel Ball Planetary Transmission mechanism are mainly made up of spider 7, steel ball group 8, planetary plate 9.
As specific embodiment, the deceleration device of the present embodiment include sealing device 1, baffle plate 2, flange 3, stressed coil 4,
Casing 5, crossed roller bearing 6, spider 7, steel ball group 8, planetary plate 9, steel ball group 10, cross plate 11, end cap disk 12, end cap
13rd, input shaft end cap 14, input shaft 15, balance counterweight 16, cylinder roller bearing 17.Wherein input shaft 15 has eccentric shaft
Section, cylinder roller bearing 17 is housed in gearratio of cycloid axle formation.The inner ring of cylinder roller bearing 17 is fixed, outer ring can play, inner ring is left
Side is positioned by the shaft shoulder, is positioned on the right side of inner ring by balance counterweight 16, balance counterweight 16 is fixed on input shaft 15 by screw.
The endoporus of planetary plate 9 is connected by coordinating with the outer ring of cylinder roller bearing 17, and planetary plate 9 can be with the outer ring of cylinder roller bearing 17
Play together.Planetary plate 9, cross plate 11, the straight-line groove on the end face of end cap disk 12 form enhancing by clamping steel ball group 10
Type cross steel ball constant speed drive mechanism.Wherein cross plate 11 is floated, and end cap disk 12 is connected by screw group and end cap 13, end cap 13
It is connected further through screw group and casing 5.Teeth groove on planetary plate 9, the end face of spider 7 constitutes enhancing by clamping steel ball group 8
Type cycloidal ball gear pair.Wherein spider 7 is fixed on a side end face of flange 3 by screw group, and flange 3 passes through with casing 5
Crossed roller bearing 6 connects, and flange 3 can rotate relative to casing 5.Baffle plate 2 is fixed on another side of flange 3 by screw group
Face, baffle plate 2 are used to compress crossed roller bearing 6.External screw thread on stressed coil 4 is connected with the internal thread of the left end of casing 5, is passed through
Gap in enhanced cross steel ball constant speed drive mechanism between steel ball group 10 and straight-line groove can be eliminated by screwing stressed coil 4,
And the gap in enhanced cycloidal ball gear pair between steel ball group 8 and teeth groove.Input shaft 15 is hollow shaft, is had in its endoporus
Keyway runs through whole axle, and input shaft 15 is connected by bearing with end cap 13 and flange 3.
Referring to Fig. 1, the deceleration device has two kinds of working methods, and first way is casing 5 is fixed, flange 3 exports, and second
Kind mode is flange 3 is fixed, casing 5 exports.The operation principle of first way is：Power is inputted by input shaft 15, passes through it
On cylinder roller bearing 17 pass to planetary plate 9.Such a mode lower casing 5 is fixed, then the He of end cap 13 being fixed on casing 5
End cap disk 12 is not also rotatable.Therefore, the enhanced cross steel that planetary plate 9 is formed with cross plate 11, steel ball group 10, end cap disk 12
Ball constant speed drive mechanism can limit the spinning motion of planetary plate 9 so that planetary plate 9 only transfers to translation certainly with input shaft 15.
Planetary plate 9, steel ball 8 and spider 7 form enhanced Cycloid Ball Transmission mechanism, and planetary plate 9 is pushed away by steel ball group 8
Dynamic spider 7 is with relatively low speed rotation.Flange 3 is fixed on spider 7 by screw group, can be with the low speed of spider 7
Rotation, complete power output.
The operation principle of the second way is：Power is inputted by input shaft 15, is passed by cylinder roller bearing 17 thereon
Pass planetary plate 9.Such a mode lower flange 3 is fixed, then the spider 7 being fixed on flange 3 is not also rotatable.Therefore, planet
Disk 9 makees low speed rotation in the presence of enhanced cycloidal ball gear pair, by the constraint of spider 7.The low speed rotation of planetary plate 9 is led to
Enhanced cross steel ball constant speed drive mechanism is crossed, constant-speed transmission is to end cap disk 12.Casing 5 passes through screw group and end cap 13, end cap
Disk 12 is fixed together, and can complete power output with the low speed rotation of end cap disk 12.
Referring to Fig. 2, Fig. 3, the end face structure of the Cycloid Ball Transmission mechanism of the present embodiment, 8 uniform equidistant placement of steel ball group
In the teeth groove of planetary plate 9 and spider 7.
Fig. 6 is the structure chart of the intensive installation of the spacing of steel ball zero described in prior art.Fig. 7 is between steel ball in the present embodiment
The structure chart of reserved minim gap installation.It is the close-packed arrays of zero spacing between steel ball in comparison diagram 6 and Fig. 7, Fig. 6, although its
Decelerator volume is reduced in theory, improves power density, but due to there is no gap to contain steel ball size error between steel ball
And lubricating grease, cause each steel ball of intensive installation to be separated without lubricating grease, direct extrusion abrasion between steel ball；Even work as steel ball
When causing the actual diameter to be more than nominal diameter because of foozle reason, it can also cause the excessive compression between steel ball.Therefore, existing skill
The intensive mounting means of the spacing of steel ball zero described in art, easily occur insufficient lubrication, mill between steel ball under real use state
The problems such as damage aggravation, decelerator bearing capacity is still poor with service life.
Compare therewith, between each steel ball be not close-packed arrays in Fig. 7, but leave parameter group between each steel ball
Close Z0Minim gap d=Z determined by the π of (h+ Δs)/20(h+ Δs)/2 π, wherein Z0For the steel ball number of steel ball group；H is between steel ball
Lubricating grease thickness；Δ is steel ball gauge.Described parameter combination Z0Include steel ball gauge Δ in the π of (h+ Δs)/2, for pre-
Minim gap is stayed to adapt to steel ball size error corresponding to steel ball gauge；The lubricating grease thickness h between steel ball is further comprises, for pre-
Minim gap is stayed to accommodate lubricating grease.Pass through parameter combination Z0The minim gap that the π of (h+ Δs)/2 is determined can provide steel ball reality
The required space of the margin of error, avoids the excessive compression between steel ball when diameter is more than nominal diameter；And can provides the institute of lubricating grease
Need space, it is ensured that the lubricant environment between steel ball so that deceleration device possesses good running environment, so as to which effectively lifting is slowed down
The actual life of device.
In addition, the parameter combination Z0The minim gap order of magnitude that the π of (h+ Δs)/2 is determined is smaller, is 10-2Mm levels, the gap
Steel ball play is supplied without redundant space again after accommodating lubricating grease and steel ball size error, therefore each steel ball through lubricating grease interval exists
Precalculated position is not deviated by assembling and operation process, the engagement of deceleration device can be avoided bad or operating is stuck.
Further, parameter combination Z is introduced in Fig. 7 between steel ball0After the minim gap that the π of (h+ Δs)/2 is determined, it is necessary to right
Teeth groove carries out mending teeth of gear.Specifically, the intensive installation of the spacing of steel ball zero described in prior art, outer pendulum corresponding to its cycloid gullet
Line gear shape equation is：
Parameter combination Z is reserved in the present embodiment between steel ball0The minim gap installation that the π of (h+ Δs)/2 is determined, it is relatively existing
Technology, correction of the flank shape external cycloidal teeth-shaped equation corresponding to cycloid gullet is on its planetary plate 9：
R in formula0--- steel ball component cloth radius of circle；
Z0--- the steel ball number of steel ball group；
H --- the lubricating grease thickness between steel ball；
Δ --- steel ball gauge；
K --- cycloid curtate ratio；
r0--- radius of circle occurs for cycloid；
θ1--- epicycloid generates angle.
Specifically, the intensive installation of the spacing of steel ball zero described in prior art, hypocycloid tooth form side corresponding to its cycloid gullet
Formula is：
Parameter combination Z is reserved between heretofore described steel ball0The minim gap installation that the π of (h+ Δs)/2 is determined, it is relatively existing
There is technology, correction of the flank shape hypocycloid gear shape equation is corresponding to cycloid gullet on its spider 7：
R in formula0--- steel ball component cloth radius of circle；
Z0--- the steel ball number of steel ball group；
H --- the lubricating grease thickness between steel ball；
Δ --- steel ball gauge；
K --- cycloid curtate ratio；
r0--- radius of circle occurs for cycloid；
θ2--- hypocycloid generates angle.
The parameter of above-mentioned correction of the flank shape external cycloidal teeth-shaped equation and correction of the flank shape hypocycloid gear shape equation by not root tangent condition about
Beam, cut with ensuring that root does not occur for the teeth groove on planetary plate and center side surface, to reduce the contact stress between steel ball and teeth groove, drop
The abrasion of low steel ball and teeth groove, strengthen the bearing capacity and service life of cycloidal ball gear pair.
Disclosed patent formula (application number：99202368.8) decelerator also uses curtate cyclod as cycloid raceway center
Equation, and the curtate ratio relational expression needed for equation is given, but the curtate ratio relational expression is only by steel ball dense arrangement condition
Determined, do not consider cycloid raceway radius of curvature factor.The cycloid raceway designed according to the relational expression, the curvature at tooth root
Radius is typically smaller than steel ball radius.Therefore, in cycloid raceway process, tooth root can be cut away by cutter and produce root and cut now
As.Undercutting Phenomenon makes wedge angle occur at cycloid raceway tooth root, and when steel ball engages with tooth root wedge angle, contact stress is very big, abrasion
Seriously.Therefore easily there is the problems such as excessive stress, abrasion aggravation, bearing capacity, intensity and life-span in decelerator described in the patent
It is poor.
Referring to Fig. 8, it causes cycloid gullet that the structure chart that root is cut occurs not consider not root tangent condition in the prior art.
Referring to Figure 10 not consider not root tangent condition in the prior art, cause cycloid gullet that the contact stress variation diagram that root is cut occurs.Ginseng
See that Fig. 9 considers that the structure chart that root is cut does not occur for root tangent condition, cycloid gullet to be of the present invention.It is institute of the present invention referring to Figure 11
Stating consideration, the contact stress variation diagram that root is cut does not occur for root tangent condition, cycloid gullet.
Comparison diagram 8, Figure 10 and Fig. 9, Figure 11, not root tangent condition is not considered in Fig. 8, causes the curvature at cycloid gullet tooth root
Radius is less than steel ball radius.In cycloid gullet process, the root portions of teeth groove can be cut away by cutter and produce root and cut now
As the shadow region in Fig. 8 is the part that tooth root is cut away by cutter.Undercutting Phenomenon makes wedge angle occur at cycloid gullet tooth root, when
When steel ball is run near tooth root wedge angle, the contact stress between steel ball and cycloid gullet is very big, serious wear.Do not examined in Figure 10
Consider not root tangent condition, when causing cycloid gullet that root occurs to cut, the Max.contact stress between steel ball and cycloid gullet is about 6 ×
104MPa.Therefore in the prior art Method of Cycloid Steel Ball Reducer easily occur stress it is excessive, abrasion aggravation the problems such as, bearing capacity,
Intensity is poor with the life-span.
Compareing therewith, not root tangent condition is considered in Fig. 9, the parameter of cycloidal tooth profile equation is constrained by not root tangent condition,
It ensure that the radius of curvature at cycloid gullet tooth root is consistently greater than steel ball radius, avoid cycloid gullet generation root and cut, reduce
Contact stress between steel ball and cycloid gullet, reduce the abrasion of steel ball and cycloid gullet.Not root tangent condition is considered in Figure 11, is put
Root does not occur for line teeth groove when cutting, and the Max.contact stress between steel ball and cycloid gullet is less than 3000MPa, the data phase with Figure 10
About 20 times are reduced than contact stress.Therefore the joint of robot deceleration device of the present invention, can be effective by not root tangent condition
Contact stress when steel ball engages with teeth groove is reduced, strengthens the bearing capacity and service life of deceleration device.Specifically, this implementation
Root tangent condition is not cycloidal tooth profile described in example：
R in formula --- steel ball radius；
R0--- steel ball component cloth radius of circle；
Z0--- the steel ball number of steel ball group；
K --- cycloid curtate ratio；
Z1--- the number of teeth of teeth groove in planet side surface；
The flute profile angle of β --- teeth groove.
Referring to Fig. 1, Fig. 4, Fig. 5, planetary plate 9, steel ball group 10, cross plate 11, end cap disk 12 constitute increasing in the present embodiment
Strong type cross steel ball constant speed drive mechanism, the wherein right side of planetary plate 9 and the left side of cross plate 11 are all machined with one group of level side
To, along the uniform straight-line groove of distribution circle, and the straight-line groove in both ends of the surface corresponds；The right side of cross plate 11 is left with end cap disk 12
End face is all machined with one group of vertical direction, along the uniform straight-line groove of distribution circle, and the straight-line groove in both ends of the surface corresponds；Together
When, the straight-line groove of 11 left and right end face of cross plate is mutually perpendicular to.
Figure 12 is the structure chart of cross steel ball constant speed drive mechanism cathetus groove nonuniform mutation operator described in prior art.Figure 13
For the structure chart of the uniform equidistant placement of the present embodiment cross steel ball constant speed drive mechanism cathetus groove.
Each straight-line groove nonuniform mutation operator on its distribution circle, easily causes each straight-line groove in comparison diagram 12 and Figure 13, Figure 12
Between load skewness, reduce decelerator smoothness of operation, trigger vibration reduction of service life.In addition, cross steel ball constant speed
Transmission mechanism, because space is limited, is only capable of arranging 1-2 group straight-line grooves, the straight-line groove quantity of carrying is very few, single along radial direction
Load is larger on straight-line groove.Therefore the cross steel ball constant speed drive mechanism of Method of Cycloid Steel Ball Reducer is its weak ring in the prior art
Section, the weak link have had a strong impact on the bearing capacity of decelerator.
Compare therewith, each straight-line groove is uniformly equally spaced on its distribution circle in Figure 13, and to the number of straight-line groove with
Length has physical dimension limitation, to prevent straight-line groove interference and steel ball stuck.Specifically, the quantity n of straight-line groove is by following parameter
Formula determines：
The length of l in formula --- straight-line groove；
R --- steel ball radius；
R1--- the distribution radius of circle of straight-line groove.
The length l of straight-line groove is determined by following parameter type：
L ＞ 2r+e；
R in formula --- steel ball radius；
E --- input shaft eccentric throw.
Being uniformly equally spaced by each straight-line groove in Figure 13, improve load is distributed between each straight-line groove uniformity and
The smoothness of operation of deceleration device, reduce vibration；By being uniformly equally spaced for each straight-line groove, straight-line groove is taken full advantage of
Space of circles is distributed, the quantity of straight-line groove is considerably increased, reduces the load on single straight-line groove.Therefore increasing of the present invention
Strong type joint of robot deceleration device, this weak link of cross steel ball constant speed drive mechanism is enhanced, enhances deceleration device
Bearing capacity.
Referring to Figure 14, Figure 15, two kinds when being used as machine cycloidal ball deceleration device of the present invention in joint of robot
Application mode.
Referring to Figure 14, practiced at this in mode, disclose a kind of robot with cycloidal ball deceleration device and close
Section, its casing 5 and motor 18 are all connected in the fixing end of joint of robot.The power of motor 18 is inputted by input shaft 15, is passed through
Cylinder roller bearing 17 thereon passes to planetary plate 9.Casing 5 is fixed in this embodiment, then the end being fixed on casing 5
Lid 13 and end cap disk 12 be not also rotatable.Therefore, planetary plate 9 is formed enhanced with cross plate 11, steel ball group 10, end cap disk 12
Cross steel ball constant speed drive mechanism can limit the spinning motion of planetary plate 9 so that planetary plate 9 is only flat with transferring to certainly for input shaft 15
It is dynamic.Planetary plate 9, steel ball 8 and spider 7 form enhanced cycloidal ball gear pair, and planetary plate 9 promotes center by steel ball group 8
Disk 7 is with relatively low speed rotation.Flange 3 is fixed on spider 7 by screw group, can be with the low speed rotation of spider 7.Method
Blue 3 round end again with joint of robot is connected, so as to drive joint of robot to rotate.
Referring to Figure 15, practiced at this in mode, disclose a kind of robot with cycloidal ball deceleration device and close
Section, its flange 3 and motor 18 are all connected in the fixing end of joint of robot.The power of motor 18 is inputted by input shaft 15, is passed through
Cylinder roller bearing 17 thereon passes to planetary plate 9.Flange 3 is fixed in this embodiment, then in being fixed on flange 3
Cartridge 7 is not also rotatable.Therefore, planetary plate 9 is made low in the presence of enhanced cycloidal ball gear pair by the constraint of spider 7
Fast rotation.The low speed rotation of planetary plate 9 is by enhanced cross steel ball constant speed drive mechanism, and constant-speed transmission is to end cap disk 12.Machine
Shell 5 is fixed together by screw group and end cap 13, end cap disk 12, can be with the low speed rotation of end cap disk 12.Casing 5 again with machine
The round end of device person joint is connected, so as to drive joint of robot to rotate.
Schematically the present invention and embodiments thereof are described above, this describes no restricted, institute in accompanying drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So if common skill of this area
Art personnel are enlightened by it, without departing from the spirit of the invention, without designing and the technical scheme for creativeness
Similar frame mode and embodiment, protection scope of the present invention all should be belonged to.
Claims (10)
- A kind of 1. cycloidal ball deceleration device, it is characterised in that：Including input shaft (15), planetary plate (9), spider (7) and steel Ball group (8), the planetary plate (9), spider (7) and steel ball group (8), which match, is combined into Cycloid Ball Transmission mechanism, the input Axle (15) has gearratio of cycloid axle formation, and cylinder roller bearing (17), planetary plate (9) endoporus and cylinder roller bearing are housed in gearratio of cycloid axle formation (17) outer ring is connected, the teeth groove that there is tooth form to be correction of the flank shape hypocycloid on the end face of the spider (7), planetary plate (9) End face on have tooth form be the epicycloidal teeth groove of correction of the flank shape.
- A kind of 2. cycloidal ball deceleration device according to claim 1, it is characterised in that：On planetary plate (9) end face Teeth groove using containing parameter combination Z0The π of (h+ Δs)/2 correction of the flank shape external cycloidal teeth-shaped, the correction of the flank shape external cycloidal teeth-shaped equation are：<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msup> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>&prime;</mo> </msup> <mo>=</mo> <mo>&lsqb;</mo> <msub> <mi>R</mi> <mn>0</mn> </msub> <mo>+</mo> <mfrac> <mrow> <msub> <mi>Z</mi> <mn>0</mn> </msub> <mrow> <mo>(</mo> <mi>h</mi> <mo>+</mo> <mi>&Delta;</mi> <mo>)</mo> </mrow> </mrow> <mrow> <mn>2</mn> <mi>&pi;</mi> </mrow> </mfrac> <mo>&rsqb;</mo> <msub> <mi>cos&theta;</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>Kr</mi> <mn>0</mn> </msub> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mn>0</mn> </msub> <msub> <mi>&theta;</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msup> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>&prime;</mo> </msup> <mo>=</mo> <mo>&lsqb;</mo> <msub> <mi>R</mi> <mn>0</mn> </msub> <mo>+</mo> <mfrac> <mrow> <msub> <mi>Z</mi> <mn>0</mn> </msub> <mrow> <mo>(</mo> <mi>h</mi> <mo>+</mo> <mi>&Delta;</mi> <mo>)</mo> </mrow> </mrow> <mrow> <mn>2</mn> <mi>&pi;</mi> </mrow> </mfrac> <mo>&rsqb;</mo> <msub> <mi>sin&theta;</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>Kr</mi> <mn>0</mn> </msub> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mn>0</mn> </msub> <msub> <mi>&theta;</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced>R in formula0--- steel ball component cloth radius of circle；Z0--- the steel ball number of steel ball group；H --- the lubricating grease thickness between steel ball；Δ --- steel ball gauge；K --- cycloid curtate ratio；r0--- radius of circle occurs for cycloid；θ1--- epicycloid generates angle.
- A kind of 3. cycloidal ball deceleration device according to claim 2, it is characterised in that：On spider (7) end face Teeth groove using containing parameter combination Z0The π of (h+ Δs)/2 correction of the flank shape hypocycloid tooth form, the correction of the flank shape hypocycloid gear shape equation are：<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msup> <msub> <mi>x</mi> <mn>2</mn> </msub> <mo>&prime;</mo> </msup> <mo>=</mo> <mo>&lsqb;</mo> <msub> <mi>R</mi> <mn>0</mn> </msub> <mo>+</mo> <mfrac> <mrow> <msub> <mi>Z</mi> <mn>0</mn> </msub> <mrow> <mo>(</mo> <mi>h</mi> <mo>+</mo> <mi>&Delta;</mi> <mo>)</mo> </mrow> </mrow> <mrow> <mn>2</mn> <mi>&pi;</mi> </mrow> </mfrac> <mo>&rsqb;</mo> <msub> <mi>cos&theta;</mi> <mn>2</mn> </msub> <mo>+</mo> <msub> <mi>Kr</mi> <mn>0</mn> </msub> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mn>0</mn> </msub> <msub> <mi>&theta;</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msup> <msub> <mi>y</mi> <mn>2</mn> </msub> <mo>&prime;</mo> </msup> <mo>=</mo> <mo>&lsqb;</mo> <msub> <mi>R</mi> <mn>0</mn> </msub> <mo>+</mo> <mfrac> <mrow> <msub> <mi>Z</mi> <mn>0</mn> </msub> <mrow> <mo>(</mo> <mi>h</mi> <mo>+</mo> <mi>&Delta;</mi> <mo>)</mo> </mrow> </mrow> <mrow> <mn>2</mn> <mi>&pi;</mi> </mrow> </mfrac> <mo>&rsqb;</mo> <msub> <mi>sin&theta;</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>Kr</mi> <mn>0</mn> </msub> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mn>0</mn> </msub> <msub> <mi>&theta;</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> </mtable> </mfenced>R in formula0--- steel ball component cloth radius of circle；Z0--- the steel ball number of steel ball group；H --- the lubricating grease thickness between steel ball；Δ --- steel ball gauge；K --- cycloid curtate ratio；r0--- radius of circle occurs for cycloid；θ2--- hypocycloid generates angle.
- A kind of 4. cycloidal ball deceleration device according to claim 3, it is characterised in that：The correction of the flank shape external cycloidal teeth-shaped side Formula and the parameter of correction of the flank shape hypocycloid gear shape equation are constrained by not root tangent condition, and root tangent condition is not：<mrow> <mfrac> <mrow> <mi>r</mi> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mi>&beta;</mi> </mrow> <msub> <mi>R</mi> <mn>0</mn> </msub> </mfrac> <mo><</mo> <mfrac> <msup> <mrow> <mo>(</mo> <mn>1</mn> <mo>-</mo> <mi>K</mi> <mo>)</mo> </mrow> <mn>3</mn> </msup> <mrow> <mn>1</mn> <mo>-</mo> <msup> <mi>K</mi> <mn>2</mn> </msup> <msub> <mi>Z</mi> <mn>0</mn> </msub> <mo>+</mo> <msub> <mi>Z</mi> <mn>1</mn> </msub> <mi>K</mi> </mrow> </mfrac> </mrow>R in formula --- steel ball radius；R0--- steel ball component cloth radius of circle；Z0--- the steel ball number of steel ball group；K --- cycloid curtate ratio；Z1--- the number of teeth of teeth groove in planet side surface；The flute profile angle of β --- teeth groove.
- 5. according to a kind of cycloidal ball deceleration device according to any one of claims 1 to 4, it is characterised in that：The device is also Including cross steel ball constant speed drive mechanism, it includes planetary plate (9), steel ball group (10), cross plate (11) and end cap disk (12)；Institute State end cap disk (12) to be connected by screw group and end cap (13), end cap (13) is connected by screw group and casing 5；Spider 7 is logical The side end face that screw group is fixed on flange (3) is crossed, flange (3) is connected with casing (5) by crossed roller bearing (6), described End cap (13) and flange (3) are connected by bearing with input shaft (15).
- A kind of 6. cycloidal ball deceleration device according to claim 5, it is characterised in that：The planetary plate (9), cross plate (11), the straight-line groove on the end face that end cap disk (12) is engaged uniformly is equally spaced on its distribution circle.
- A kind of 7. cycloidal ball deceleration device according to claim 6, it is characterised in that：The quantity n of straight-line groove is by parameter Formula determines：<mrow> <mi>n</mi> <mo><</mo> <mfrac> <mrow> <mn>2</mn> <mi>&pi;</mi> </mrow> <mrow> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>s</mi> <mi>i</mi> <mi>n</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <mi>l</mi> <mo>+</mo> <mn>2</mn> <mi>r</mi> </mrow> <msub> <mi>R</mi> <mn>1</mn> </msub> </mfrac> <mo>)</mo> </mrow> </mrow> </mfrac> </mrow>The length of l in formula --- straight-line groove；R --- steel ball radius；R1--- the distribution radius of circle of straight-line groove.
- A kind of 8. cycloidal ball deceleration device according to claim 7, it is characterised in that：The length l of straight-line groove is by parameter Formula determines：L ＞ 2r+e；R in formula --- steel ball radius；E --- input shaft eccentric throw.
- A kind of 9. joint of robot with cycloidal ball deceleration device, it is characterised in that：It is defeated in cycloidal ball deceleration device The power output shaft for entering axle (15) with motor (18) is connected, and casing (5) is connected in the fixing end of joint of robot with motor (18), The power of motor (18) is inputted by input shaft (15), and planetary plate (9), planet are passed to by cylinder roller bearing (17) thereon Disk (9) promotes spider (7) rotation by steel ball group (8), and round end of the flange (3) again with joint of robot is connected, so as to band Mobile robot articulation.
- A kind of 10. joint of robot with cycloidal ball deceleration device according to claim 9, it is characterised in that：Pendulum Input shaft (15) in line steel ball deceleration device is connected with the power output shaft of motor (18), and flange (3) is connected with motor (18) In the fixing end of joint of robot, the low speed rotation of planetary plate 9 passes through enhanced cross steel ball constant speed drive mechanism, constant-speed transmission End cap disk (12) is given, casing (5) can be connected with end cap disk (12) rotation, round end of the casing (5) again with joint of robot, So as to drive joint of robot to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721031991.5U CN207093691U (en) | 2017-08-17 | 2017-08-17 | A kind of cycloidal ball deceleration device and its joint of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721031991.5U CN207093691U (en) | 2017-08-17 | 2017-08-17 | A kind of cycloidal ball deceleration device and its joint of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207093691U true CN207093691U (en) | 2018-03-13 |
Family
ID=61542082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721031991.5U Expired - Fee Related CN207093691U (en) | 2017-08-17 | 2017-08-17 | A kind of cycloidal ball deceleration device and its joint of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207093691U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109882552A (en) * | 2019-04-03 | 2019-06-14 | 燕山大学 | A kind of twin-stage plane steel ball reducer |
| CN110486443A (en) * | 2019-08-05 | 2019-11-22 | 燕山大学 | Close active shaft type plane second level movable teeth reducer |
| CN111188876A (en) * | 2020-01-06 | 2020-05-22 | 河南烛龙高科技术有限公司 | Centrosymmetric single-stage undercut cycloid oscillating tooth speed reducer |
| 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 |
-
2017
- 2017-08-17 CN CN201721031991.5U patent/CN207093691U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109882552A (en) * | 2019-04-03 | 2019-06-14 | 燕山大学 | A kind of twin-stage plane steel ball reducer |
| CN110486443A (en) * | 2019-08-05 | 2019-11-22 | 燕山大学 | Close active shaft type plane second level movable teeth reducer |
| CN111188876A (en) * | 2020-01-06 | 2020-05-22 | 河南烛龙高科技术有限公司 | Centrosymmetric single-stage undercut cycloid oscillating tooth speed reducer |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207093691U (en) | A kind of cycloidal ball deceleration device and its joint of robot | |
| CN107299970A (en) | A kind of cycloidal ball deceleration device and its application in joint of robot | |
| CN107327543A (en) | A kind of Cycloid Steel Ball Planetary Transmission mechanism and its joint of robot deceleration device | |
| CN207093681U (en) | A kind of Cycloid Steel Ball Planetary Transmission mechanism and its joint of robot deceleration device | |
| US8061229B2 (en) | Gear drive | |
| CN108799316A (en) | A kind of RV accurate retarding machines eccentric shaft and accurate retarding machine | |
| CN219366705U (en) | Novel planetary reducer | |
| CN1060257C (en) | Cycloidal gear driving mechanism and apparatus | |
| CN111637200B (en) | Helical gear planetary transmission mechanism | |
| CN100563835C (en) | Vertical roll grinder | |
| CN201170292Y (en) | Speed reducing mechanism | |
| CN103115113A (en) | Stirring reduction box | |
| CN106499774A (en) | A kind of transmission decelerating device | |
| CN206419433U (en) | A kind of transmission decelerating device | |
| CN2244646Y (en) | Small tooth difference internal engagement cylindrical straight-teeth double-cycloidal gear pair and its speed reducer | |
| CN209762145U (en) | Eccentric oscillating gear reduction device | |
| CN102817968A (en) | Inner meshed double circular arc structure | |
| CN203809612U (en) | Double-circular-arc correction cycloid gear planetary gear train | |
| CN207975193U (en) | Reducer structure and robot with it | |
| CN2303125Y (en) | Planet speed reducer | |
| CN206571908U (en) | A kind of transmission decelerating device | |
| CN206419434U (en) | A kind of transmission decelerating device | |
| CN206929280U (en) | A kind of transmission decelerating device | |
| CN206708350U (en) | A kind of transmission decelerating device | |
| CN206929330U (en) | A kind of transmission decelerating device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180313 Termination date: 20190817 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |