CN207750454U - Combined type cycloid planetary speed reducer - Google Patents
Combined type cycloid planetary speed reducer Download PDFInfo
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- CN207750454U CN207750454U CN201721854574.0U CN201721854574U CN207750454U CN 207750454 U CN207750454 U CN 207750454U CN 201721854574 U CN201721854574 U CN 201721854574U CN 207750454 U CN207750454 U CN 207750454U
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Abstract
The utility model belongs to retarder technical field more particularly to a kind of combined type cycloid planetary speed reducer, including input shaft, crank axle, needle tooth retainer, planet carrier, output panel and cycloid shell, and needle tooth retainer is equipped with needle tooth, central through hole and eccentric pivot hole；Input shaft is equipped with driving gear and passes through central through hole；Crank axle is equipped with planetary gear and eccentric shaft, and equipped with first bearing across eccentric pivot hole and the hole wall of eccentric pivot hole, planetary gear is meshed transmission eccentric shaft with driving gear；Planet carrier and output panel are sheathed on outside input shaft, and planet carrier passes through 3rd bearing and crank axis connection by second bearing and crank axis connection, output panel；Cycloid shell is set to outside needle tooth retainer and is connect respectively with planet carrier and output panel by fourth bearing and 5th bearing, and cycloid shell is equipped with the cycloidal gear teeth being connect with needle tooth engagement.The combined type cycloid planetary speed reducer of the utility model has the advantages that transmission efficiency, the easy to maintain and processing cost of assembly are low.
Description
Technical field
The utility model belongs to retarder technical field more particularly to a kind of combined type cycloid planetary speed reducer.
Background technology
Gear reduction unit is a kind of transmission device, is usually used between prime mover and working machine or executing agency, and reduction is played
Rotating speed or the effect for increasing torque, using extremely wide in modern mechanical.Gear reduction unit generally by gear, axis, bearing and
Babinet forms, and the height of the quality and effect of performance directly affects entire the operation of a machine.Reduce retarder volume, increases it
Bearing capacity is always the important goal of Design of Speed Reducer.Currently, robot, numerically-controlled machine tool, Medical Devices, the army of rapid development
To retarder, more stringent requirements are proposed in the fields such as work and automation equipment, high bearing capacity, high-precision, high speed, highly reliable
Property, high transmission efficiency, low noise, low cost, the retarder of long-life are increasingly favored by these industries.
Cycloid planetary speed reducer mainly uses needle tooth (or the needle on the inside of epicyclodial wheel and pin wheel housing among retarder
The fixed needle tooth of tooth retainer) it is engaged and realizes eccentric planet transmission.It is big with gear range, kinematic accuracy is high, return difference
The excellent properties such as small, rigidity is big, strong shock resistance, small, compact-sized and transmission efficiency are high.Currently, Cycloidal Wheel is pendulum
The key components and parts of line planetary reduction gear.The precision and performance of Cycloidal Wheel directly determine the performance of entire retarder.But cycloid
The processing request of wheel is high, and gerotor type gear is located in reducing gearbox body in traditional cycloidal pinwheel planetary gear speed reducer, size ratio
It is smaller, processing difficulties；And what is processed is the outer teeth profile of Cycloidal Wheel, clamping and is positioned relatively difficult when processing.Cycloidal Wheel adds
Work difficulty is big, can not just make standard component, cannot seriation and standardization well, to be unfavorable for cycloidal-pin wheel planetary slow down
The modularized design of device limits the update and improvement of retarder.
Currently, the cycloid planetary speed reducer of mainstream is mainly to be passed through by the engagement between Cycloidal Wheel and pinwheel on the market
Cycloid pinwheel planetary gear transmission system principle reduces rotating speed, increases torque.The cycloid planetary speed reducer of mainstream is mainly by being mounted in crank
Two Cycloidal Wheels to misplace at 180 ° on axis (either eccentric bushing) and the needle tooth phase on pin wheel housing (or pin gear sleeve)
It engages to realize transmission and deceleration.When crank axle (or eccentric bushing) rotates a circle, since cycloidal profile is by pin wheel housing
The limitation of upper pin gear, the movement of Cycloidal Wheel is existing in its plane of movement to revolve round the sun and has autobiography.When crank axle (or eccentric bushing)
When rotating clockwise one week, Cycloidal Wheel turns over a tooth in opposite direction and slows down to realize.
Mainstream cycloidal reducer has the following disadvantages at present：(1) cycloid in traditional cycloidal pinwheel planetary gear speed reducer
Type gear is located in reducing gearbox body, and Cycloidal Wheel overall dimensions are smaller, processing difficulties；And in the outer teeth profile of processing Cycloidal Wheel
When, clamping and positioning are relatively difficult.Secondly, the retarder of different model corresponds to various sizes of Cycloidal Wheel, it is difficult to form series
Change, the interchangeability of retarder critical component Cycloidal Wheel is poor, and standardization is difficult, is unfavorable for the modularized design of retarder, to limit
The update design of retarder is made.(2) cycloid drive is engaged by needle tooth in groove on the inside of Cycloidal Wheel and pin wheel housing
Rub the transmission realized.Transmission process is by rolling friction between Cycloidal Wheel and needle tooth and needle tooth and groove on the inside of pin wheel housing
Between sliding friction realize transmission.Engaged transmission process not only there is sliding friction but also there are rolling friction, due to friction energy-dissipating
And influence the transmission efficiency of cycloidal reducer.(3) since needle tooth is rotated in inside groove on pin wheel housing, between the two
Simple sliding friction is done, so the machining accuracy of groove will seriously affect in entire transmission process on the inside of needle tooth outer surface and pin wheel housing
Frictional force and efficiency.Therefore needle tooth and pin wheel housing inside groove need higher machining accuracy, the raising of machining accuracy inevitable
The processing cost of entire speed reducer can be improved.(4) it is slided in groove on the inside of the pin wheel housing due to needle tooth, so between certainly existing
Gap.The Cycloidal Wheel and generation collision when needle tooth engagement that the presence in gap leads to high-speed rotation again, so as to cause vibration and noise.
It has also been found that causing needle tooth peak stress occur because of gap and collision in theoretical research, it is be easy to cause the breakage of needle tooth, finally
Lead to the damage of retarder.
Utility model content
The purpose of this utility model is to provide a kind of combined type cycloid planetary speed reducers, it is intended to solve in the prior art
Cycloidal reducer there is technical issues that transmission efficiency is low, assembly safeguard it is inconvenient and.
To achieve the above object, the technical solution adopted in the utility model is：A kind of combined type cycloid planetary speed reducer, packet
Input shaft, crank axle, needle tooth retainer, planet carrier, output panel and cycloid shell are included, on the outer circle wall of the needle tooth retainer
Equipped with the uniformly distributed needle tooth of several annulars, and the needle tooth retainer is equipped with central through hole and eccentric pivot hole；On the input shaft
Equipped with driving gear, the input shaft forms movement clearance across the central through hole and the central through hole；It is described
Crank axle is equipped with the eccentric shaft of planetary gear and the central axis eccentric setting relative to the crank axle, and the eccentric shaft is worn
The eccentric pivot hole is crossed, and is equipped with first bearing, the planetary gear between the eccentric shaft and the hole wall of the eccentric pivot hole
Be meshed transmission with the driving gear；
The planet carrier and the output panel are sheathed on except the input shaft, and the planet carrier and the output panel
It is fixedly connected with and is located at the opposite sides of the cycloid shell, the planet carrier is connected by second bearing and the crank axle
It connects, the output panel passes through 3rd bearing and the crank axis connection；
The cycloid shell is set to outside the needle tooth retainer and respectively by fourth bearing and 5th bearing and the row
Carrier is connected with the output panel, and the inner peripheral wall of the cycloid shell is equipped with and several connect with each needle tooth engagement
Cycloidal gear teeth.
Preferably, the outer circle wall of the needle tooth retainer is equipped with the uniformly distributed needle tooth socket of several annulars, each needle tooth
It is respectively contained in each needle tooth socket.
Preferably, each needle tooth is integrally formed with the needle tooth retainer.
Preferably, each needle tooth is convex for the arc in cycloidal formed on the outer circle wall of the needle tooth retainer
It rises.
Preferably, each needle tooth be set to the needle tooth retainer outer circle wall on and uniformly at intervals, and it is each described in
Needle tooth is rolled by axis pin and the needle tooth retainer and is connected.
Preferably, the crank axle is equipped with involute splined shaft, and the planetary gear is equipped with involute spline hub, institute
It states planetary gear and connection is realized by the cooperation of the involute spline hub and the involute splined shaft with the crank axle.
Preferably, the quantity of the crank axle is multiple, and multiple crank axles are around the central axis of the input shaft
It is circularly and evenly distributed.
Preferably, the quantity of the crank axle is two, central shaft of two crank axles relative to the input shaft
Line is symmetrical arranged.
Preferably, the eccentric shaft there are two being respectively provided on each crank axle, and two institutes on each crank axle
The eccentric direction for stating eccentric shaft deviates from 180 °, and the quantity of the needle tooth retainer is two, two on each crank axle
The eccentric pivot hole that the eccentric shaft is each passed through two needle tooth retainers corresponds to.
Preferably, the planet carrier is equipped with multiple connection hole posts, and the output panel is equipped with multiple connection through-holes, described
Needle tooth retainer is equipped with multiple evacuation through-holes, and each connection hole post passes through each evacuation through-hole correspondingly, and each
The connection hole post corresponds with each connection through-hole and passes through the connection through-hole and the connection by connecting bolt
Hole post locking connection.
The beneficial effects of the utility model：The combined type cycloid planetary speed reducer of the utility model, input shaft input speed
It is rotated with torque band driven input shaft, to drive driving gear to rotate, the planetary gear on driving gear engaged transmission crank axle,
Since the transmission ratio between planetary gear and driving gear is more than 1, i.e., the planetary number of teeth is more than the number of teeth of driving gear, from
And between driving gear and planetary gear realize the first order slow down, then planetary gear drive crank axle around center axis from
Turn, the crank axle rotation during, then the eccentric shaft on crank axle around crank axle central axis rotation, due to eccentric shaft from
Transhipment is dynamic, and eccentric shaft is connect by first bearing with needle tooth retainer, to drive needle tooth retainer around the center of input shaft
Axis realizes eccentric revolution on scheduled track, at this point, during needle tooth retainer carries out eccentric revolution, needle tooth is kept
The needle tooth being arranged on frame is meshed on eccentric direction with the corresponding cycloidal gear teeth being arranged on cycloid shell, engagement process production
Raw active force and reaction force, realize the rotation and revolution of needle tooth retainer and needle tooth in the central axes of input shaft, and by needle tooth
The rotation of retainer is transmitted to output panel and planet carrier by the eccentric shaft of crank axle, realizes second level planetary reduction gear.
The combined type cycloid planetary speed reducer of the utility model, the first order are involute planet gear transmission mechanism, the
Two level is the engagement transmission mechanism of the needle tooth of needle tooth retainer and the cycloidal gear teeth of cycloid shell, is thusly-formed two-stage transmission and subtracts
Speed, transmission efficiency, and entire retarder can form seriation, standardization and modularization in design and manufacture, convenient for peace
Dress, I＆ M are greatly processed into this.
Description of the drawings
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this practicality is new
Some embodiments of type for those of ordinary skill in the art without having to pay creative labor, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the axonometric drawing for the combined type cycloid planetary speed reducer that the utility model embodiment provides.
Fig. 2 is a quarter sectional view for the combined type cycloid planetary speed reducer that the utility model embodiment provides.
Fig. 3 is the structural decomposition diagram for the combined type cycloid planetary speed reducer that the utility model embodiment provides.
Fig. 4 is the front view for the combined type cycloid planetary speed reducer that the utility model embodiment provides.
Fig. 5 is the sectional view of the line A-A along Fig. 4.
Fig. 6 is the side view for the combined type cycloid planetary speed reducer that the utility model embodiment provides.
Fig. 7 is the sectional view of the line B-B along Fig. 6.
Fig. 8 is the sectional view of the line C-C along Fig. 6.
Fig. 9 is the structural representation of the cycloid shell for the combined type cycloid planetary speed reducer that the utility model embodiment provides
Figure.
Figure 10 is the structural schematic diagram of the planet carrier for the combined type cycloid planetary speed reducer that the utility model embodiment provides.
Figure 11 is the structural schematic diagram of the output panel for the combined type cycloid planetary speed reducer that the utility model embodiment provides.
Figure 12 is the structural schematic diagram of the input shaft for the combined type cycloid planetary speed reducer that the utility model embodiment provides.
Figure 13 is the structural schematic diagram of the crank axle for the combined type cycloid planetary speed reducer that the utility model embodiment provides.
Figure 14 is the planetary structural representation for the combined type cycloid planetary speed reducer that the utility model embodiment provides
Figure.
Figure 15 is the first of the needle tooth retainer for the combined type cycloid planetary speed reducer that the utility model embodiment provides
The structural schematic diagram of embodiment.
Figure 16 is second of the needle tooth retainer for the combined type cycloid planetary speed reducer that the utility model embodiment provides
The structural schematic diagram of embodiment.
Figure 17 is the third of the needle tooth retainer for the combined type cycloid planetary speed reducer that the utility model embodiment provides
The structural schematic diagram of embodiment.
Wherein, each reference numeral in figure：
1-first bearing 2-second bearing, 3-3rd bearing
4-fourth bearing 5-5th bearing, 10-input shafts
11-driving gear 20-crank axle, 21-involute splined shafts
22-eccentric shaft 30-needle tooth retainer 31-needle tooth sockets
32-axis pin 33-central through hole, 34-eccentric pivot holes
35-evacuation through-hole 40-planet carrier, 41-connection hole posts
42-planet carrier axis hole 43-driving gear chamber 44-planet carrier shaft bearing bore
45-planetary gear chamber 50-output panel, 51-output panel axis holes
52-output panel bearing hole 53-connection through-hole 60-cycloid shells
61-cycloidal gear teeth 70-needle, 80-planetary gears of tooth
81-involute spline hub 90-sealing ring, 91-seal channels.
Specific implementation mode
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining the description of attached drawing 1~17 is exemplary, it is intended to for explaining the utility model, and should not be understood as to this practicality
Novel limitation.
In the description of the present invention, it should be understood that term " length ", " width ", "upper", "lower", " preceding ",
The orientation or positional relationship of the instructions such as " rear ", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached
Orientation or positional relationship shown in figure, is merely for convenience of describing the present invention and simplifying the description, rather than indicates or imply
Signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as to this
The limitation of utility model.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.The meaning of " plurality " is two or two in the description of the present invention,
More than, unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be
Mechanical connection can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary two
The interaction relationship of connection or two elements inside element.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
As shown in Fig. 1~5, a kind of combined type cycloid planetary speed reducer that the utility model embodiment provides, including input
Axis 10, crank axle 20, needle tooth retainer 30, planet carrier 40, output panel 50 and cycloid shell 60, the needle tooth retainer 30 it is outer
Circumferential wall is equipped with the uniformly distributed needle tooth 70 of several annulars, and the needle tooth retainer 30 is equipped with central through hole 33 and eccentric pivot hole
34；The input shaft 10 is equipped with driving gear 11, and the input shaft 10 passes through the central through hole 33 and leads to the center
Movement clearance is formed between hole 33；The crank axle 20 is equipped with planetary gear 80 and the central shaft relative to the crank axle 20
The eccentric shaft 22 of line eccentric setting, the eccentric shaft 22 pass through the eccentric pivot hole 34, and the eccentric shaft 22 and the bias
First bearing 1 is equipped between the hole wall of axis hole 34, the planetary gear 80 is meshed transmission with the driving gear 11.
Further, as shown in figure 5, the planet carrier 40 and the output panel 50 be sheathed on the input shaft 10 it
Outside, and the planet carrier 40 is fixedly connected with the output panel 50 and is located at the opposite sides of the cycloid shell 60, institute
It states planet carrier 40 to connect with the crank axle 20 by second bearing 2, the output panel 50 passes through 3rd bearing 3 and the crank
Axis 20 connects.
Further, as shown in figure 5, the cycloid shell 60 is set to outside the needle tooth retainer 30 and passes through the 4th respectively
Bearing 4 and 5th bearing 5 are connect with the planet carrier 40 and the output panel 50, and on the inner peripheral wall of the cycloid shell 60
Equipped with several cycloidal gear teeths 61 for engaging connection with each needle tooth 70.
The combined type cycloid planetary speed reducer of the utility model embodiment, the first order are driven for involute planet gear 80
Mechanism, the second level are the engagement transmission mechanism of the needle tooth 70 of needle tooth retainer 30 and the cycloidal gear teeth 61 of cycloid shell 60, so
Formed two-stage gear reduction, transmission efficiency, and entire retarder can be formed in design and manufacture seriation, standardization and
Modularization, is easily installed, I＆ M, is greatly processed into this.
Specifically, it carries out in the deceleration transmission course of work, passes through using the combined type cycloid planetary speed reducer of the present embodiment
10 input speed of input shaft and torque and rotated with driven input shaft 10, to drive driving gear 11 to rotate, driving gear 11 nibbles
The planetary gear 80 on driving crank axis 20 is closed, since the transmission ratio between planetary gear 80 and driving gear 11 is more than 1, at once
The number of teeth of star gear 80 is more than the number of teeth of driving gear 11, to realize that the first order subtracts between driving gear 11 and planetary gear 80
Speed, then planetary gear 80 drive crank axle 20 around center axis rotation, during 20 rotation of crank axle, then crank axle
Eccentric shaft 22 on 20 is around the central axis rotation of crank axle 20, and due to the spinning motion of eccentric shaft 22, and eccentric shaft 22 passes through
First bearing 1 is connect with needle tooth retainer 30, to drive needle tooth retainer 30 around the central axis of input shaft 10 scheduled
Eccentric revolution is realized on track, at this point, during needle tooth retainer 30 carries out eccentric revolution, is arranged on needle tooth retainer 30
Needle tooth 70 be meshed with the corresponding cycloidal gear teeth 61 being arranged on cycloid shell 60 on eccentric direction, engagement process generates
Active force and reaction force realize the rotation and revolution of needle tooth retainer 30 and needle tooth 70 in the central axes of input shaft 10, and will
The rotation of needle tooth retainer 30 is transmitted to output panel 50 and planet carrier 40 by the eccentric shaft 22 of crank axle 20, realizes second level row
Star slows down.
That is, it is involute planetary that the combined type of the combined type cycloid planetary speed reducer of the present embodiment, which refers to the first order,
Gear 80 is driven and Gear Planet Transmission of the second level between needle tooth 70 and cycloidal gear teeth 61 is combined with each other manufactured retarder.
More specifically, a variety of outputs may be implemented in transmission process in the combined type cycloid planetary speed reducer of the present embodiment
Form：When fixed cycloid shell 60, pass through the cycloid of needle tooth retainer 30 and needle tooth 70 and cycloid shell 60 in engagement process
The active force and reaction force of the gear teeth 61 drive output panel 50 and planet carrier 40 to rotate defeated by the rotation of needle tooth retainer 30
Go out, output rotation direction is identical as input direction.When output panel 50 and planet carrier 40 are fixed, protected by needle tooth in engagement process
The active force and reaction force of frame 30 and needle tooth 70 and the line wheel tooth of cycloid shell 60 are held, band dynamic cycloid shell 60 rotates output,
It is opposite with input direction to export rotation direction.It can so realize a variety of output forms.
The combined type cycloid planetary speed reducer of the present embodiment is suitable for a variety of cycloidal reducer knots such as monodentate difference and multiple tooth difference
Structure.It can be applied equally to robot RV retarders, 2KV retarders, two teeth difference cycloid planetary speed reducer, more tooth-difference cycloid rows
Other retarders with cycloidal tooth profile such as star retarder.
Further, right with driving gear 11, planetary gear 80 on planet carrier 40 as shown in Figure 10~11 and Figure 15~17
The position answered offers the driving gear chamber 43 and planetary gear chamber 45 of evacuation driving gear 11, planetary gear 80.Meanwhile planet
Frame 40 is equipped with the planet carrier axis hole 42 worn for input shaft 10 and the planet carrier shaft bearing bore 44 installed for second bearing 2.Together
Sample, output panel 50 is equipped with the output panel axis hole 51 worn for input shaft 10 and the output panel bearing installed for 3rd bearing 3
Hole 52.
Further, as shown in Figures 4 and 5, the seal channel 91 also formed between planet carrier 40 and cycloid shell 60, it is close
Sealing ring 90 is equipped in sealing slot 91.
In the present embodiment, as shown in Fig. 5 and Figure 15, the first embodiment that needle tooth 70 is connect with needle tooth retainer 30
It is：The outer circle wall of the needle tooth retainer 30 is equipped with the uniformly distributed needle tooth socket 31 of several annulars, and each needle tooth 70 holds respectively
It is placed in each needle tooth socket 31.Specifically, under the rotation of needle tooth retainer 30, needle tooth 70 is arranged by cycloid shell 60
Cycloidal gear teeth 61 active force and the rotation in the needle tooth socket 31.Wherein, the section of needle tooth socket 31 substantially semi-circular shape, and needle
The diameter of tooth socket 31 is slightly larger than the diameter of needle tooth 70, it is ensured that needle tooth 70 has the gap rotated for needle tooth 70 in needle tooth socket 31
.
It should be noted that：Curtate hypocycloid is a kind of curve in mathematics, and the definition of curtate hypocycloid is one round as a ball
Pure rolling is done in the inside of a basic circle, then the track that the upper fixed point of circle is passed through is known as curtate hypocycloid.In practical short width
Cycloid is the outside equidistant curve of the track.The wheel of the cycloidal gear teeth 61 of this practical curtate hypocycloid i.e. cycloid shell 60
Profile shape.The transmission of rotating speed and torque in engagement process is realized in transmission process by cycloid shell 60.In addition, being put outside short width
Line is a kind of curve in mathematics, and the definition of curtate epicycloid is one and round as a ball does pure rolling in the outside of a basic circle.Specifically
The cycloid shell 60 on ground, the present embodiment is not limited to hypocycloid, can also form epicycloid.I.e. needle tooth 70 is arranged outside cycloid
On shell 60, cycloidal gear teeth 61 is arranged on needle tooth retainer 30, on the circular edge of the cycloidal gear teeth 61 of needle tooth retainer 30
It is rolled one week using a circle, as soon as the curvilinear path that fixed point is formed on cycloidal gear teeth 61 on the circle is epicycloid,
It is the contour shape of cycloidal gear teeth 61.
In the present embodiment, as shown in Fig. 5 and Figure 16, second of embodiment that needle tooth 70 is connect with needle tooth retainer 30
It is：Each needle tooth 70 is integrally formed with the needle tooth retainer 30.That is, compared to above-mentioned needle tooth 70 as independently of
For the mounting technology of the Assembly part of needle tooth retainer 30, the friction loss in transmission process is reduced, retarder is improved
Whole transmission efficiency, and between needle tooth 70 and needle tooth retainer 30 no longer noise is generated because colliding to each other.Meanwhile by
It is integrally formed between needle tooth 70 and needle tooth retainer 30, then no longer needs to match between needle tooth 70 and needle tooth retainer 30
It closes, this, simplifies the requirements of the trim designs of the design accuracy between needle tooth retainer 30 and needle tooth 70, simplify retarder
Assembly difficulty.
In this embodiment, each needle tooth 70 is in cycloid for what is formed on the outer circle wall of the needle tooth retainer 30
The arc convex of shape.Specifically, the shape semicircular in shape strip of arc convex.It in this way can be in the excircle of needle tooth retainer 30
It is directly integrally formed setting needle tooth 70 on wall, the assembling between needle tooth 70 and needle tooth retainer 30 is reduced, for 70 He of needle tooth
The manufacture of needle tooth retainer 30 is more convenient.
Certainly, the tooth form of the arc convex in cycloidal formed on the outer circle wall of needle tooth retainer 30 can also use it
His spline curve flank profil or special-shaped toothing replace, and are no longer repeated one by one herein.
In the present embodiment, as shown in Fig. 5 and Figure 17, the third embodiment that needle tooth 70 is connect with needle tooth retainer 30
It is：Each needle tooth 70 be set to the needle tooth retainer 30 outer circle wall on and uniformly at intervals, and each needle tooth 70
It is rolled and is connected by axis pin 32 and the needle tooth retainer 30.Specifically, this kind of structure type is by needle tooth retainer 30 and needle
Tooth 70 rolls the structure that links into an integrated entity by the axis pin 32 being arranged on needle tooth retainer 30 with needle tooth 70, and overall structure is similar to rolling
Needle bearing, to simulate nibbling between the cycloid gear on needle tooth retainer 30 and needle tooth 70 and 60 inner peripheral wall of cycloid shell
It closes.It so still may insure that needle tooth 70 is meshed on eccentric direction with cycloidal gear teeth 61, and generated in engagement process
Active force and reaction force realize the rotation and revolution of needle tooth retainer 30 and needle tooth 70 in the central axes of input shaft 10, and will
The rotation of needle tooth retainer 30 is transmitted to output panel 50 and planet carrier 40 by the eccentric shaft 22 of crank axle 20, realizes second level row
Star slows down.
In the present embodiment, as shown in Figure 13~14, the crank axle 20 is equipped with involute splined shaft 21, the planet tooth
Wheel 80 is equipped with involute spline hub 81, the planetary gear 80 and the crank axle 20 by the involute spline hub 81 with
Connection is realized in the cooperation of the involute splined shaft 21.Specifically, pass through involute spline hub 81 and involute splined shaft 21
Connection can effectively ensure that speed and torque are transmitted on crank axle 20.So that it is guaranteed that crank axle 20 drives needle by eccentric shaft 22
Tooth retainer 30 and needle tooth 70 move.And then ensure needle tooth retainer 30 and needle tooth 70 in rotation process in cycloid shell 60
The cycloidal gear teeth 61 structure engaged transmission of circumferential wall.More specifically, planetary gear can also be reduced as much as possible by spline connection
Assembly space needed for 80, to make the further densification of the assembling structure of retarder, miniaturization.Also, crank axle 20 and row
It is connected by spline fitted between star gear 80, to ensure that the reliability being driven between crank axle 20 and planetary gear 80.By
It is driven by the way of opening up spline tooth in the end of input shaft 10 in driving gear 11, can so be further reduced master
The number of gear teeth of moving gear 11, to further increase the transmission ratio between planetary gear 80 and driving gear 11, to reach big
The purpose of reduction ratio.
In other embodiments, the connection between planetary gear 80 and crank axle 20 can also pass through the interference fit of axis hole
It realizes.
In the present embodiment, the quantity of the crank axle 20 is multiple, and multiple crank axles 20 are around the input shaft 10
Central axis be circularly and evenly distributed.Specifically, by increase be arranged crank axle 20 quantity come improve the retarder can
The load intensity of carrying.
Preferably, as shown in Fig. 1~2, the quantity of crank axle 20 is two, and two crank axles 20 are relative to input shaft 10
Central axis is symmetrical arranged.Also, when carrying out trim designs using two symmetrical crank axles 20, on each crank axle 20
It is provided with even number eccentric shaft 22, the quantity of needle tooth retainer 30 is equal with the quantity of eccentric shaft 22 on a crank axle 20,
Each eccentric shaft 22 on one crank axle 20 corresponds to a Cycloidal Wheel, two neighboring eccentric shaft 22 on the same crank axle 20
Eccentric direction deviates from 180 °, in this way, can not only meet load intensity requirement by two crank axles 20, and by adjacent
Eccentric direction between two eccentric shafts 22 deviates from 180 °, and two eccentric shafts 22 are in the rotation process at same time point, and two
A eccentric shaft 22 is so that the needle tooth 70 of two needle tooth retainers 30 is opposite with the direction that cycloidal gear teeth 61 is meshed.For example, one
When the needle tooth 70 at the top of needle tooth retainer 30 is engaged with the cycloidal gear teeth 61 of cycloid shell 60, then another needle tooth retainer 30
The needle tooth 70 of bottom is engaged with the cycloidal gear teeth 61 of cycloid shell 60, in this way, 70 institute of needle tooth of two needle tooth retainers 30
The force direction of the cycloidal gear teeth 61 from cycloid shell 60 is born completely on the contrary, to form counteracting forces, avoids needle
Unidirectional acting force is generated when the needle tooth 70 of tooth retainer 30 is engaged with the cycloidal gear teeth 61 of cycloid shell 60 and needle tooth is caused to keep
Frame 30 vibrates and makes entire retarder body vibration, and reaching makes retarder remain smooth working state in transmission process
Effect.
In conjunction with shown in Figure 13, in the present embodiment, two eccentric shafts 22 are preferably provided on each crank axle 20, when
So, the quantity of needle tooth retainer 30 is two, and each eccentric shaft 22 corresponds to a Cycloidal Wheel on a crank axle 20, same
The eccentric direction of two eccentric shafts 22 on a crank axle 20 deviates from 180 °.It is kept using two opposite needle teeth of engagement direction
Frame 30 carries out force balance so that held stationary during engaged transmission of needle tooth retainer 30 works.
In the present embodiment, as shown in Figure 11~12 and Figure 15~17, the planet carrier 40 is equipped with multiple connection hole posts 41,
The output panel 50 is equipped with multiple connection through-holes 53, and the needle tooth retainer 30 is equipped with multiple evacuation through-holes 35, each described
It connects hole post 41 and passes through each evacuation through-hole 35, and each connection hole post 41 and each connection through-hole 53 correspondingly
It corresponds and passes through the connection through-hole 53 to be connected with the connection hole post 41 locking by connecting bolt (not shown).Specifically
Ground, multiple connection hole posts 41, multiple connection through-holes 53 and multiple evacuation through-holes 35 are arranged in a one-to-one correspondence respectively, and an input shaft
Annular is uniformly distributed centered on 10 central axis, wherein connection hole post 41 is passed through evacuation through-hole 35, then again by connecting bolt
It is connected across connection through-hole 53 with the locking of hole post 41 is connect, can be realized be fixedly connected with planet carrier 40 with output panel 50 in this way,
And will not by the interference of needle tooth retainer 30, meanwhile, planet carrier 40 and output panel 50 pass through fourth bearing 4 and the 5th respectively
Bearing 5 realizes rotatable connection with needle tooth retainer 30, had so both realized and has been kept to planet carrier 40, output panel 50 and needle tooth
The fixation of frame 30 also ensures that planet carrier 40, output panel 50 and needle tooth retainer 30 may be implemented to rotate, smart structural design, real
It is strong with property.
The combined type cycloid planetary speed reducer of the present embodiment efficiently solves present in traditional cycloid planetary speed reducer
Above-mentioned cited existing cycloid drive influences the transmission efficiency of cycloidal reducer due to friction energy-dissipating, needs higher
Machining accuracy cause the processing cost that will necessarily improve entire speed reducer and transmission be easy when generate collision so as to cause
The technical issues of vibration and noise.
In addition, by simulation study, show that the transmission of the combined type cycloid planetary speed reducer of the present embodiment is more stable, performance
More stablize.In the mode that the combined type cycloid planetary speed reducer of the present embodiment is presented, the structure of needle tooth retainer 30 is opposite
It is more convenient in the processing of cycloid wheel construction, the processing of cycloidal gear teeth 61 is made on the inner peripheral wall of the cycloid shell 60 of retarder
Set and Positioning is more convenient when cycloidal gear teeth 61 is processed, easy to process.
It can also be by needle tooth retainer 30 and 70 two parts of needle tooth in the combined type cycloid planetary speed reducer of the present embodiment
Structure be made of one structure, replace 70 structure of needle tooth with the arc convex of 30 outer circle wall of needle tooth retainer, can also use
Other spline curve or special-shaped toothing.Traditional cycloid planetary speed reducer is solved in transmission process because there are a variety of frictions
And the problem of reducing transmission efficiency.Due to no individually designed needle tooth 70, needle tooth 70 also would not be in 70 shell of needle tooth and Cycloidal Wheel
Between swing, the collision between needle tooth 70 and Cycloidal Wheel and noise would not be generated.And after there is no needle tooth 70, retarder
Part sum greatly reduces, and assembly is more convenient.In addition it can which needle tooth 70 and needle tooth retainer 30 are rolled by axis pin 32
It links together, is similar to needle bearing, be convenient for the standardization of needle tooth 70 and needle tooth retainer 30, can realize better exchange
Property, seriation, standardization and modularization to be conducive to the utility model embodiment powder combined type cycloid planetary speed reducer are set
Meter.
For to sum up, combined type cycloid planetary speed reducer provided in this embodiment at least has the advantages that following aspect：
One, the combined type cycloid planetary speed reducer of the present embodiment on needle tooth retainer 30 by being provided with needle tooth socket 31 by needle
Tooth 70 is positioned in needle tooth socket 31.This structure makes the processing and manufacturing of needle tooth retainer 30 relative to traditional cycloidal-pin wheel row
The processing of Cycloidal Wheel in star retarder is more prone to, to reduce the processing cost of retarder entirety.
Two, the one of which new structure form of the needle tooth retainer 30 of the combined type cycloid planetary speed reducer of the present embodiment
In so that individually designed needle tooth 70 is no longer needed in retarder transmission process, is reduced in transmission process because needle tooth 70 is swung
And the vibration generated and noise.By research and analysis, this kind of structure can effectively reduce damage of the retarder because of needle tooth 70
Failure caused by and.And all do not need needle tooth 70 in the manufacture of this structure and assembling process, can reduce retarder manufacture and
The difficulty of assembling process, uses manpower and material resources sparingly, and improves efficiency.
Three, in another new structure form of the needle tooth retainer 30 of the combined type cycloid planetary speed reducer of the present embodiment,
The structure is similar to needle bearing structure, can be easily made standard component, is easy to implement the standardization of needle tooth retainer 30 in retarder
And seriation, it can preferably realize cycloidal reducer kernel component interchangeability.It is set for the modularization of cycloid planetary speed reducer
Meter provides may.And it assembles more convenient.
Four, the combined type cycloid planetary speed reducer of the present embodiment by improve cycloid shell 60 structure, by cycloidal gear teeth
61 are machined on the inner peripheral wall of cycloid shell 60 so that and cycloidal gear teeth 61 positions in process and clamping is more prone to,
It is easy to process.
Five, the combined type cycloid planetary speed reducer of the present embodiment has stable drive, contact force by simulation study analysis
Peak value is low, transmission efficiency, assembles the advantages of easy to maintain and processing cost is low etc..
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (10)
1. a kind of combined type cycloid planetary speed reducer, it is characterised in that：Including input shaft, crank axle, needle tooth retainer, planet
The outer circle wall of frame, output panel and cycloid shell, the needle tooth retainer is equipped with the uniformly distributed needle tooth of several annulars, and the needle
Tooth retainer is equipped with central through hole and eccentric pivot hole；The input shaft is equipped with driving gear, and the input shaft passes through described
Central through hole simultaneously forms movement clearance between the central through hole；The crank axle is equipped with planetary gear and relative to described
The eccentric shaft of the central axis eccentric setting of crank axle, the eccentric shaft pass through the eccentric pivot hole, and the eccentric shaft and institute
It states and is equipped with first bearing between the hole wall of eccentric pivot hole, the planetary gear is meshed transmission with the driving gear；
The planet carrier and the output panel are sheathed on except the input shaft, and the planet carrier is fixed with the output panel
Connect and be located at the opposite sides of the cycloid shell, the planet carrier by second bearing and the crank axis connection,
The output panel passes through 3rd bearing and the crank axis connection；
The cycloid shell is set to outside the needle tooth retainer and respectively by fourth bearing and 5th bearing and the planet carrier
It is connected with the output panel, and the inner peripheral wall of the cycloid shell is equipped with several cycloids being connect with each needle tooth engagement
The gear teeth.
2. combined type cycloid planetary speed reducer according to claim 1, it is characterised in that：The outer circle of the needle tooth retainer
Peripheral wall is equipped with the uniformly distributed needle tooth socket of several annulars, and each needle tooth is respectively contained in each needle tooth socket.
3. combined type cycloid planetary speed reducer according to claim 1, it is characterised in that：Each needle tooth and the needle tooth
Retainer is integrally formed.
4. combined type cycloid planetary speed reducer according to claim 3, it is characterised in that：Each needle tooth is the needle tooth
The arc convex in cycloidal formed on the outer circle wall of retainer.
5. combined type cycloid planetary speed reducer according to claim 1, it is characterised in that：Each needle tooth is set to described
On the outer circle wall of needle tooth retainer and uniformly at intervals, and each needle tooth is rolled by axis pin and the needle tooth retainer and is connected
It connects.
6. according to Claims 1 to 5 any one of them combined type cycloid planetary speed reducer, it is characterised in that：The crank axle
It is equipped with involute splined shaft, the planetary gear is equipped with involute spline hub, and the planetary gear is logical with the crank axle
Connection is realized in the cooperation for crossing the involute spline hub and the involute splined shaft.
7. according to Claims 1 to 5 any one of them combined type cycloid planetary speed reducer, it is characterised in that：The crank axle
Quantity be multiple, and multiple crank axles are circularly and evenly distributed around the central axis of the input shaft.
8. combined type cycloid planetary speed reducer as claimed in claim 7, it is characterised in that：The quantity of the crank axle is two
A, two crank axles are symmetrical arranged relative to the central axis of the input shaft.
9. combined type cycloid planetary speed reducer as claimed in claim 7, it is characterised in that：It is both provided on each crank axle
Two eccentric shafts, and the eccentric direction of two eccentric shafts on each crank axle deviates from 180 °, the needle tooth
The quantity of retainer is two, and two eccentric shafts on each crank axle are each passed through two needle tooth retainers
The eccentric pivot hole corresponds to.
10. according to Claims 1 to 5 any one of them combined type cycloid planetary speed reducer, it is characterised in that：The planet carrier
Multiple connection hole posts are equipped with, the output panel is equipped with multiple connection through-holes, and the needle tooth retainer is equipped with multiple evacuation
Through-hole, each connection hole post pass through each evacuation through-hole, and each connection hole post and each connection correspondingly
Through-hole corresponds and passes through the connection through-hole to be connected with connection hole post locking by connecting bolt.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721854574.0U CN207750454U (en) | 2017-12-26 | 2017-12-26 | Combined type cycloid planetary speed reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721854574.0U CN207750454U (en) | 2017-12-26 | 2017-12-26 | Combined type cycloid planetary speed reducer |
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| CN207750454U true CN207750454U (en) | 2018-08-21 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108019470A (en) * | 2017-12-26 | 2018-05-11 | 深圳先进技术研究院 | Combined type cycloid planetary speed reducer |
| CN108953501A (en) * | 2018-09-19 | 2018-12-07 | 杭州星河传动机械研究院有限公司 | Multi-eccentric speed reducer |
| CN109139812A (en) * | 2018-10-22 | 2019-01-04 | 中国船舶重工集团公司第七0七研究所 | A kind of New-type cycloidal planetary reducer |
| CN113404823A (en) * | 2021-07-19 | 2021-09-17 | 天津旗领机电科技有限公司 | Miniature high-precision small-tooth-difference cycloidal speed reducer |
| CN114017473A (en) * | 2021-10-29 | 2022-02-08 | 浙江环动机器人关节科技有限公司 | Offset type planetary reduction gear |
-
2017
- 2017-12-26 CN CN201721854574.0U patent/CN207750454U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108019470A (en) * | 2017-12-26 | 2018-05-11 | 深圳先进技术研究院 | Combined type cycloid planetary speed reducer |
| CN108953501A (en) * | 2018-09-19 | 2018-12-07 | 杭州星河传动机械研究院有限公司 | Multi-eccentric speed reducer |
| CN109139812A (en) * | 2018-10-22 | 2019-01-04 | 中国船舶重工集团公司第七0七研究所 | A kind of New-type cycloidal planetary reducer |
| CN113404823A (en) * | 2021-07-19 | 2021-09-17 | 天津旗领机电科技有限公司 | Miniature high-precision small-tooth-difference cycloidal speed reducer |
| CN113404823B (en) * | 2021-07-19 | 2022-06-14 | 天津旗领机电科技有限公司 | Miniature high-precision small-tooth-difference cycloidal speed reducer |
| CN114017473A (en) * | 2021-10-29 | 2022-02-08 | 浙江环动机器人关节科技有限公司 | Offset type planetary reduction gear |
| CN114017473B (en) * | 2021-10-29 | 2023-10-31 | 浙江环动机器人关节科技股份有限公司 | Offset type planetary reduction gear |
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