CN208203924U - Needle tooth cycloidal reducer and industrial robot - Google Patents
Needle tooth cycloidal reducer and industrial robot Download PDFInfo
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- CN208203924U CN208203924U CN201820793329.1U CN201820793329U CN208203924U CN 208203924 U CN208203924 U CN 208203924U CN 201820793329 U CN201820793329 U CN 201820793329U CN 208203924 U CN208203924 U CN 208203924U
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- cycloid disc
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- needle tooth
- cycloid
- cycloidal reducer
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Abstract
A kind of needle tooth cycloidal reducer and industrial robot, needle tooth cycloidal reducer include: the first axially disposed gerotor structure, the second gerotor structure；Wherein, each gerotor structure includes: radial cycloid disc, several circumferentially distributed the needle tooth and pin wheel housing set gradually from inside to outside；Needle tooth is rotatably affixed to pin wheel housing, and cycloid disc is engaged in needle tooth；All pin wheel housing coaxial arrangements；Needle tooth cycloidal reducer further include: eccentric shaft, with axially disposed the first eccentric part and the second eccentric part, the eccentric phase of the first eccentric part and the second eccentric part is opposite, eccentricity is identical；First gerotor structure is sheathed on the first eccentric part, and the second gerotor structure is sheathed on the second eccentric part；Connector connects the second cycloid disc in the first cycloid disc and the second gerotor structure in the first gerotor structure, so that the first cycloid disc, the second cycloid disc can do cycloid motion by connector with identical rotation revolving speed.
Description
Technical field
The utility model relates to retarder technical fields, and in particular to a kind of needle tooth cycloidal reducer and industrial robot.
Background technique
Retarder is the equipment often needed to use in industrial processes, is generally arranged at motor, internal combustion engine etc.
Between power source and executing agency, the power for motor, internal combustion engine etc. to run at high speed is exported by retarder to execution
Mechanism, to achieve the purpose that deceleration and improve torque.
Wherein, the one kind of needle tooth cycloidal reducer as retarder, (eccentric shaft rotation) is inevitable during the work time
Meeting generate vibration.In the occasion that condition is more harsh, the accuracy of manufacture is more demanding, excessive vibration does not allow.Therefore,
How to reduce the vibration of needle tooth cycloidal reducer during operation is prior art technical problem urgently to be resolved.
Utility model content
The utility model solves the problems, such as it is that needle tooth cycloidal reducer can generate biggish vibration during operation.
To solve the above problems, the utility model provides a kind of needle tooth cycloidal reducer, comprising: axially disposed first
Gerotor structure, the second gerotor structure；Wherein, gerotor structure includes: the radial cycloid disc set gradually from inside to outside, several circumferential directions
The needle tooth and pin wheel housing of distribution；The needle tooth is rotatably affixed to the pin wheel housing, and the cycloid disc is engaged in the needle tooth；
All pin wheel housing coaxial arrangements；The needle tooth cycloidal reducer further include: eccentric shaft, partially with axially disposed first
The eccentric phase of center portion and the second eccentric part, first eccentric part and the second eccentric part is opposite, eccentricity is identical；Described first
Gerotor structure is sheathed on first eccentric part, and second gerotor structure is sheathed on second eccentric part；Connector, connection
The second cycloid disc in the first cycloid disc and second gerotor structure in first gerotor structure, so that the first cycloid
Disk, the second cycloid disc can do cycloid motion by the connector with identical rotation revolving speed；When eccentric shaft rotation,
The first cycloid disc in first gerotor structure is in the first pin wheel housing rotation first angle α, second gerotor structure
The second cycloid disc relative to the second pin wheel housing rotate second angle β, first angle α, second angle β meet: α ≠ β.
Optionally, first cycloid disc, one of them in the second cycloid disc are fixed with the connector, another
Equipped with receiving hole corresponding with the connector, the connector is axially extended in the receiving hole；The hole of the receiving hole
Diameter meets: D=D0+4 × e+ △；Wherein, D indicates the aperture of receiving hole, and D0 indicates that the outer diameter of connector, e indicate that first is eccentric
Portion, the second eccentric part eccentricity, △ indicate tolerance margins.
Optionally, the connector is coupling pin.
Optionally, circumferentially distributed multiple connectors, second pendulum are fixed on first cycloid disc
Drum is equipped with circumferentially distributed multiple receiving holes.
Optionally, the connector be include the first linkage section and the second linkage section set gradually along axial direction, described
One linkage section is rotatably arranged on first cycloid disc, and second linkage section is rotatably arranged on second cycloid
Disk；First linkage section, the second linkage section axially extend, and not on the same line；In first linkage section
The distance between central axes of axis, the second linkage section are equal to the eccentricity.
Optionally, the connector further includes the shaft shoulder portion being arranged between first linkage section, the second linkage section, institute
Shaft shoulder portion is stated between first cycloid disc, the second cycloid disc.
Optionally, the connector is multiple, and multiple connectors are along the circumferentially distributed of the eccentric shaft.
Optionally, the connector is arranged between first cycloid disc and the second cycloid disc and is sheathed on described inclined
The periphery of mandrel；One of them in the connector, the first cycloid disc is equipped with the first sliding block, another is equipped with first sliding groove,
First sliding block is suitable for sliding in the first sliding groove along the first radial direction；In the connector, the second cycloid disc
One of them is equipped with the second sliding block, another is equipped with second sliding slot, and second sliding block is suitable in the second sliding slot along the
The sliding of two radial directions；Wherein, first radial direction is perpendicular to second radial direction.
Optionally, first cycloid disc is equipped at least one first limited block group, institute towards the face of the connector
Two the first limited blocks stated in the first limited block group are oppositely arranged to form the first sliding groove；Second cycloid disc is towards institute
The face for stating connector is equipped at least one second limited block group, and two the second limited blocks in the second limited block group are opposite
Setting forms the second sliding slot.
Optionally, the connector be equipped at least one described first sliding block for extending along first radial direction with
At least one described second sliding block extended along second radial direction.
Optionally, the connector includes ring part, and the ring part is sheathed on the periphery of the eccentric shaft；Described first
Sliding block is two, is symmetrically set to the outer peripheral surface of the ring part；Second sliding block is two, is symmetrically set to described
The outer peripheral surface of ring part.
Optionally, the connector be equipped at least one described first sliding groove for extending along first radial direction with
At least one the described second sliding slot extended along second radial direction.
Optionally, the first sliding groove is two, is symmetrically set to the two sides of the eccentric shaft；The second sliding slot is
Two, symmetrically it is set to the two sides of the eccentric shaft.
Optionally, first eccentric part, the second eccentric part have gap in the axial direction, and the connector setting exists
Between first eccentric part, the second eccentric part.
In order to solve the above technical problems, the technical program also provides a kind of industrial robot, comprising: power source and execution machine
Structure, the industrial robot further include needle tooth cycloidal reducer described in the above item, the needle tooth cycloidal reducer fixed setting
Between power source, executing agency, for reducing the revolving speed of power source to export to the executing agency.
Compared with prior art, the technical solution of the utility model has the advantage that
The needle tooth cycloidal reducer of the technical program, by the way that the first eccentric part and the second eccentric part are arranged on eccentric shaft,
Make the first eccentric part and the second eccentric part that there is opposite eccentric phase and identical eccentricity, and is arranged the first gerotor structure
In the first eccentric part, the second gerotor structure is made to be sheathed on the second eccentric part.Therefore, in the needle tooth cycloidal reducer course of work,
The first cycloid disc, the second cycloid disc inscribed when any are symmetrically located in the radially opposite sides of eccentric shaft always, so as to improve
The dynamic balancing of needle tooth cycloidal reducer reduces active force suffered by eccentric shaft.Especially when eccentric shaft revolving speed is higher, load is larger
When, it can be effectively reduced the vibration of needle tooth cycloidal reducer.
Detailed description of the invention
Fig. 1 is the movement transitive relation schematic diagram of the utility model first embodiment needle tooth cycloidal reducer；
Fig. 2 is the structural schematic diagram of the utility model first embodiment needle tooth cycloidal reducer；
Fig. 3 is the stereogram exploded view of the cycloidal reducer of needle tooth shown in Fig. 2；
Fig. 4 (a), Fig. 4 (b) respectively illustrate the force diagram of eccentric shaft and existing skill in the present embodiment needle tooth cycloidal reducer
The force diagram of eccentric shaft in art needle tooth cycloidal reducer；
Fig. 5 is the movement transitive relation schematic diagram of the utility model second embodiment needle tooth cycloidal reducer；
Fig. 6 is that connector connects the first cycloid disc, the second pendulum in the utility model second embodiment needle tooth cycloidal reducer
The partial schematic diagram of drum；
Fig. 7 is the structural schematic diagram of the utility model 3rd embodiment needle tooth cycloidal reducer；
Fig. 8 is the STRUCTURE DECOMPOSITION of connector and the first cycloid disc, the second cycloid disc in the cycloidal reducer of needle tooth shown in Fig. 7
Figure；
Fig. 9 is the stereogram exploded view of the cycloidal reducer of needle tooth shown in Fig. 7；
Figure 10 is connector and the first cycloid disc, the second cycloid in the utility model fourth embodiment needle tooth cycloidal reducer
The structural exploded view of disk.
Specific embodiment
Application No. is in the patent application case of CN201710332880.6, disclose a kind of needle tooth cycloidal reducer.Needle tooth
Cycloidal reducer includes that eccentric shaft can be in the base for not changing original forms of motion with two gerotor structures for being set to eccentric shaft
Achieve the purpose that deceleration on plinth.But the eccentric shaft of the needle tooth cycloidal reducer of such form only has an eccentric part, two
Cycloid disc is arranged on same eccentric part.In the process of running, two cycloid discs are biased to same direction to needle tooth cycloidal reducer,
It is easy to cause needle tooth cycloidal reducer to vibrate；Especially when needle tooth cycloidal reducer revolving speed with higher, vibration is especially
Obviously.
Although also proposed an improvement project in this application file, to reduce needle tooth cycloidal reducer during operation
Generated vibration.But in such mode, needle tooth cycloidal reducer includes at least four cycloid discs, two of them cycloid
Disk is disposed therein on an eccentric part, and another two cycloid disc is disposed therein on another eccentric part.So as to cause needle tooth pendulum
The structure of line retarder becomes complicated, is unfavorable for fabricating, while also reducing the reliability of needle tooth cycloidal reducer.
It is understandable to enable the above objects, features, and advantages of the utility model to become apparent, with reference to the accompanying drawing to this
The specific embodiment of utility model is described in detail.
First embodiment
Referring to Fig.1, Fig. 2, a kind of needle tooth cycloidal reducer 100, including the first axially disposed gerotor structure 10 and
Two gerotor structures 20.First gerotor structure 10 includes: radial the first cycloid disc 11 set gradually from inside to outside, several circumferential directions point
The the first needle tooth 12 and the first pin wheel housing 13 of cloth；First needle tooth 12 is rotatably affixed to first pin wheel housing 13, and first
Cycloid disc 11 is engaged in the first needle tooth 12.Second gerotor structure 20 includes: radial the second pendulum set gradually from inside to outside
Drum 21, several circumferentially distributed the second needle teeth 22 and the second pin wheel housing 23；Second needle tooth 22 is rotatably affixed to described
Two pin wheel housings 23, and the second cycloid disc 21 is engaged in the second needle tooth 22.
Wherein, the first pin wheel housing 13, the coaxial arrangement of the second pin wheel housing 23.
In the present embodiment, needle tooth cycloidal reducer 100 further includes eccentric shaft 30, and eccentric shaft 30 has axially disposed the
One eccentric part 31 and the second eccentric part 32, the first eccentric part 31,32 eccentric phase of the second eccentric part are on the contrary, but having the same inclined
Heart amount e.Wherein, the first gerotor structure 10 is sheathed on the first eccentric part 31, and the second gerotor structure 20 is sheathed on the second eccentric part 32.
Needle tooth cycloidal reducer 100 further includes connector 40, and connector 40 connects the first cycloid disc 11 and the second cycloid disc
21, enable the first cycloid disc 11 for doing cycloid motion to drive the second cycloid disc 21 to walk around certainly with identical by connector 40
Speed does cycloid motion, or enable do the second cycloid disc 21 of cycloid motion by connector 40 drive the first cycloid disc 11 with
Identical rotation revolving speed does cycloid motion.
Also, in power transmission process, when eccentric shaft 30 rotates, the first cycloid disc 11 is rotated relative to the first pin wheel housing 13
First angle α, the second cycloid disc 21 rotate second angle β relative to the second pin wheel housing 23.Wherein, first angle α, second angle β
Meet: α ≠ β.This is because: as α=β, between the first pin wheel housing 13, the second pin wheel housing 23 be it is relatively-stationary, at this time
Needle tooth cycloidal reducer 100 can not output power.
Therefore, when eccentric shaft 30 is rotated as input terminal, the first cycloid disc 11 being arranged on the first eccentric part 31 exists
First pin wheel housing 13 does cycloid motion in the range of surrounding (the first cycloid disc revolves around itself rotation and around eccentric shaft).Together
When, the first cycloid disc 11 drives the second cycloid disc 21 to do cycloid fortune by connector 40, eccentric shaft 30 by the second eccentric part 32
Dynamic, the cooperation of the second cycloid disc 21 and the second pin wheel housing 23 can make the second pin wheel housing 23 generate rotation.
During eccentric shaft 30 transmits power to the first gerotor structure 10, needle tooth cycloidal reducer 100 is after first
Secondary deceleration；During the first gerotor structure 10 transmits power to the second gerotor structure 20, needle tooth cycloidal reducer 100 after
Second of deceleration；So as to achieve the purpose that deceleration, improve torque.Also, the spinning motion of the second pin wheel housing 23 does not change
Become the forms of motion (being rotation) of eccentric shaft 30, thus can be directly as output end output power.
Specifically, the rotation revolving speed of the first cycloid disc 11 is equal to the rotation revolving speed of the second cycloid disc 21.
In the present embodiment, in 100 course of work of needle tooth cycloidal reducer, due to the first eccentric part 31, the second eccentric part 32
Eccentric phase on the contrary, at any time, the first cycloid disc 11, the second cycloid disc 21 are symmetrically located in the diameter of eccentric shaft 30 always
To two sides.Therefore, the dynamic balancing of needle tooth cycloidal reducer 100 can be improved, and reduce active force suffered by eccentric shaft.Especially
When 30 revolving speed of eccentric shaft is higher, load is larger, the vibration of needle tooth cycloidal reducer 100 can be effectively reduced.
Referring to Fig. 4 (a), Fig. 4 (b), individually below to the bias in the present embodiment and prior art needle tooth cycloidal reducer
Axis carries out force analysis.Wherein, Fig. 4 (a) shows the force diagram of eccentric shaft in the present embodiment needle tooth cycloidal reducer, Fig. 4 (b)
Show the force diagram of eccentric shaft in prior art needle tooth cycloidal reducer.
A, the present position D is respectively two supporting points of eccentric shaft, and the present position B, C is respectively the first cycloid disc, second
Position of the cycloid disc on eccentric shaft.In eccentric shaft rotary course, eccentric shaft is supported power F1 in location A, the position D by
To support force F4, in centrifugal force F2 of the B location by the first cycloid disc, in centrifugal force F3 of the location of C by the second cycloid disc.
As shown in Fig. 4 (a), using A as fulcrum, resultant couple suffered by eccentric shaft is 0, then:
F2 × AB-F3 × AC+F4 × AD=0, it may be assumed that F4=(F3 × AC-F2 × AB)/AD.
If AB=BC=CD, F2=F3, then: F4=F2/3.
Likewise, resultant couple suffered by eccentric shaft is 0, then: F1=F2/3 using B as fulcrum.
As shown in Fig. 4 (b), using A as fulcrum, resultant couple suffered by eccentric shaft is 0, then:
F2 × AB+F3 × AC-F4 × AD=0, it may be assumed that F4=(F3 × AC+F2 × AB)/AD.
If AB=BC=CD, F2=F3, then: F4=F2.
Likewise, resultant couple suffered by eccentric shaft is 0, then: F1=F2 using B as fulcrum.
That is, active force of the present embodiment eccentric shaft 30 suffered by both ends is close to prior art eccentric shaft 30 two
The one third of the suffered active force in end, it is thus possible to effectively reduce the load acted on eccentric shaft 30.Especially work as bias
When there is gap between axis 30 and the supporting element for being used to support eccentric shaft 30, vibration caused by eccentric shaft 30 can be effectively reduced
Dynamic, abrasion and noise, avoid eccentric shaft 30 from being damaged, and promote 30 service life of eccentric shaft, improve needle tooth cycloidal reducer 100
Dynamic balancing.
Referring to Fig. 2, Fig. 3, connector 40 is specially coupling pin.First cycloid disc 11 is equipped with pin hole 11a, the second cycloid disc
21 are equipped with the receiving hole 21a axially opposing with pin hole 11a, and one end of connector 40 is fixed in pin hole 11a, the other end
It axially extends and stretches in corresponding receiving hole 21a.
When the first cycloid disc 11 does cycloid motion, connector 40 is as the first cycloid disc 11 is certainly then around eccentric shaft
30 rotations, to apply active force to receiving hole 21a, make the second cycloid disc 21 with phase by being in contact with the hole wall of receiving hole 21a
Same rotation revolving speed does cycloid motion.Finally rotation occurs second cycloid disc 21 for the second pin wheel housing 23 of driving, defeated as output end
Power out.
In the present embodiment, in 30 rotary course of eccentric shaft, the first cycloid disc 11, the second cycloid disc 21 relative position be not
Disconnected variation, connector 40 is also constantly changed with respect to the position of the second cycloid disc 21.The setting of receiving hole 21a needs
Meet this change in location of connector 40.Specifically, the aperture of receiving hole 21a meets: D=D0+4 × e.Wherein, D indicates to hold
Receive the aperture in hole, D0 indicates that the outer diameter of connector, e indicate the eccentricity of the first eccentric part, the second eccentric part.Therefore, it can keep away
Exempt from the first cycloid disc 11, the second cycloid disc 21 interferes in rotary course, cause needle tooth cycloidal reducer 100 can not
It runs well.
It should be noted that formula " D=D0+4 × e " is the calculated results, receiving hole 21a at this time can just expire
The motion requirement of sufficient connector 40.In the actual processing process, the aperture D of receiving hole 21a can be made to slightly have surplus, i.e. D=D0+
2 × e+ △, wherein △ can use between 0.15mm-0.25mm, to guarantee that the cooperation of connector 40 and receiving hole 21a will not hinder
Hinder the rotation of the first cycloid disc 11, the second cycloid disc 21.
In the present embodiment, one end of connector 40 is set to pin hole 11a, and the other end is set to receiving hole 21a.Eccentric shaft 30
In rotary course, the position of pin hole 11a is synchronous variation with the position of receiving hole 21a, so that the first cycloid disc 11, second is put
The rotation revolving speed having the same of drum 21.
It should be appreciated that connector 40 can be not only plugged on the first cycloid disc 11 by pin hole 11a fixation, can also lead to
It crosses other modes and connector 40 is fixed to the first cycloid disc 11.For example, connector can be spirally connected, weld or rivet and be fixed on
On first cycloid disc 11, it can also be integrally formed on the first cycloid disc 11, not shadow during manufacturing the first cycloid disc 11
Ring the implementation of the technical program.
In addition, connector 40 can be not only fixed on the first cycloid disc 11, the second pendulum can also be fixed at
On drum 21.At this point, then needing that receiving hole is arranged on the first cycloid disc 11, to accommodate connector 40.The aperture of receiving hole can
With referring to above-mentioned design method, can satisfy the change in location of connector 40.
As shown in figure 3, being fixed with circumferentially distributed multiple connectors 40 on the first cycloid disc 11.Correspondingly, second
Cycloid disc 21 is equipped with circumferentially distributed multiple receiving hole 21a, and receiving hole 21a is arranged in a one-to-one correspondence with connector 40, so that
Connector 40 preferably can apply active force to the second cycloid disc 21, and the second cycloid disc 21 of driving is done with identical rotation revolving speed
Cycloid motion.
It should be noted that cycloid disc, pin wheel housing can be a pair of in the first gerotor structure 10 and the second gerotor structure 20
One setting, can also make a cycloid disc correspond to more than two pin wheel housings, or to correspond to a pin wheel housing more than two
Cycloid disc.In addition, a column needle tooth can be only set between cycloid disc, pin wheel housing, can also be above with axially disposed two column
Needle tooth.
Specifically in the present embodiment, the first gerotor structure 10 only includes 13, first cycloid discs of first pin wheel housing
11 and the first needle of column tooth 12.Second gerotor structure 20 only includes 23, second cycloid discs 21 and one of second pin wheel housing
The second needle of column tooth 22.
With continued reference to Fig. 2, Fig. 3, first bearing 51 is equipped between the first cycloid disc 11, the first eccentric part 31, that is, the first pendulum
Drum 11 connects the first eccentric part 31 by first bearing 51, is set in the first bias so that the first cycloid disc of realization 11 is rotatable
In portion 31.Second bearing 52 is equipped between second cycloid disc 21, the second eccentric part 32, that is, the second cycloid disc 21 passes through the second axis
52 the second eccentric parts of connection 32 are held, are set on the second eccentric part 32 so that the second cycloid disc of realization 21 is rotatable.
In addition, being additionally provided with 3rd bearing 53 between the second pin wheel housing 23, eccentric shaft 30, that is, the second pin wheel housing 23 passes through
3rd bearing 53 connects eccentric shaft 30, so that the second pin wheel housing 23 is rotatable to be sheathed on eccentric shaft 30.On the one hand, Neng Goubao
It demonstrate,proves the second pin wheel housing 23 and the first pin wheel housing 13 is coaxially disposed；On the other hand, when eccentric shaft 30 is used as input terminal, the second pin wheel housing
When 23 conduct output end, make to can have different revolving speeds between eccentric shaft 30, the second pin wheel housing 23.
In the present embodiment, needle tooth cycloidal reducer 100 further includes outer housing 60, the first gerotor structure 10, the second cycloid knot
Structure 20 and eccentric shaft 30 are fixed in outer housing 60.Wherein, is additionally provided between the second pin wheel housing 23, outer housing 60
Four bearings 54, the second pin wheel housing 23 passes through the inner peripheral surface of 54 connected with outer casing body 60 of fourth bearing, to enable the second pin wheel housing 23
Enough opposite shell bodies 60 rotate, using as power output end.
Needle tooth cycloidal reducer 100 during operating, inside be typically provided with lubricating oil, be used for each moving component
Between lubrication.Oil leak causes extraneous in order to prevent, or the inside for making introduced contaminants enter needle tooth cycloidal reducer 100,
Oil sealing 61 is additionally provided between outer housing 60 and the second pin wheel housing 23.
With continued reference to Fig. 2, Fig. 3, needle tooth cycloidal reducer 100 further includes cover board 62, cover board 62, the first pin wheel housing 13, outer
Shell 60 is set gradually along axial direction.Using screw 63, the radially outward edge axial restraint of the first pin wheel housing 13 is set in shell
Between body 60 and cover board 62.Cover board 62 has centre bore, and eccentric shaft 30 passes through centre bore, and between cover board 62, eccentric shaft 30
It is additionally provided with 5th bearing 55, cover board 62 is connected to the outer peripheral surface of eccentric shaft 30 by 5th bearing 55, to enable eccentric shaft 30
Enough opposing cover plates 62 rotate, using as power intake.
Further, needle tooth cycloidal reducer 100 further includes locating part 25, and locating part 25 is to be set in 30 periphery of eccentric shaft
Annular partition, annular partition is fixed to axial one end of the second pin wheel housing 23 using screw 26, to prevent the second needle
Tooth 22 is along axially sliding second needle tooth socket 24.In the axial other end of the second needle tooth 22, the second pin wheel housing 23 is used as locating part, with
Prevent the second needle tooth 22 from the other end along axially sliding second needle tooth socket 24.
In addition, annular partition is also contacted with fourth bearing 54, axial limiting is carried out to fourth bearing 54, prevents fourth bearing
54 axial floats.
The axial ends of first needle tooth 12 is respectively equipped with fourth bearing 54 and cover board 62, and fourth bearing 54 and cover board 62 are distinguished
As the locating part of the first needle tooth 12, to prevent the first needle tooth 12 along axially sliding first needle tooth socket 14.
The present embodiment also provides a kind of industrial robot, comprising: power source and executing agency and above-described needle tooth pendulum
Line retarder 100.Wherein, needle tooth cycloidal reducer 100 is fixed between power source, executing agency, and power source connection is inclined
Mandrel 30, to drive eccentric shaft 30 to rotate；Second pin wheel housing 23 connects executing agency, to drive executing agency to operate, the second needle
The revolving speed of tooth shell 23 is less than the revolving speed of eccentric shaft 30, so as to reduce the revolving speed of power source to export to executing agency.
Second embodiment
Referring to Fig. 5, Fig. 6, the present embodiment and first embodiment the difference is that: connector 40 is crank, including edge
The first linkage section 41 and the second linkage section 42 axially set gradually.First cycloid disc 11 is equipped with the first connecting hole 11b, and second
Cycloid disc 21 is equipped with the second connecting hole 21b, and the first linkage section 41 is inserted in the first connecting hole 11b, and is suitable in the first connection
It is rotated in the 11b of hole, the second linkage section 42 is inserted in the second connecting hole 21b, and is suitable for rotating in the second connecting hole 21b.
Wherein, the first linkage section 41, the second linkage section 42 axially extend, and the first linkage section 41, the second linkage section
42 not on the same line, i.e., the central axes of the first linkage section 41, the second linkage section 42 central axes between there is distance L.Tool
Body, distance L is equal to the eccentric amount e of the first eccentric part 31, the second eccentric part 32.
When the first cycloid disc 11 does cycloid motion, first connecting portion 41 is as the first cycloid disc 11 is from then around partially
Mandrel 30 rotate, by second connecting portion 42 can to the second cycloid disc 21 apply active force, with drive the second cycloid disc 21 with
Identical rotation revolving speed does cycloid motion.
Wherein, one end of connector 40 is set to the first connecting hole 11b, and the other end is set to the second connecting hole 21b.It is eccentric
In 30 rotary course of axis, the position of the first connecting hole 11b is synchronous variation with the position of the second connecting hole 21b, so that first
Cycloid disc 11, the rotation revolving speed having the same of the second cycloid disc 21.
Likewise, in 30 rotary course of eccentric shaft, the first cycloid disc 11, the second cycloid disc 21 relative position be constantly to become
Change.By setting crank structure for connector, and make the central axes of the central axes of the first linkage section 41, the second linkage section 42
The distance between L control for equal to eccentric amount e, this change in location can be satisfied, avoid the first cycloid disc 11, the second cycloid
Disk 21 interferes in rotary course, and needle tooth cycloidal reducer 100 is caused to can not operate normally.
Specifically, the connector 40 as crank can be fabricated by cold extrusion, not only there is relatively high processing
Precision also has relatively low processing cost.
As shown in fig. 6, connector 40 further includes the shaft shoulder portion being arranged between the first linkage section 41, the second linkage section 42
43, the first linkage section 41, the second linkage section 42 pass through shaft shoulder portion 43 to achieve a fixed connection, and the radial dimension in shaft shoulder portion 43 omits
Greater than the first linkage section 41 and the second linkage section 42.
By the way that shaft shoulder portion 43 is arranged, the first linkage section 41 can be avoided, the second linkage section 42 occurs stress and concentrates and occur
Fracture, while it is cold extrusion shaped to be more favorable to connector.In addition, shaft shoulder portion 43 is located at the first cycloid disc 11, the second cycloid disc
Between 21, it is suitable for the first cycloid disc 11 of segmentation and the second cycloid disc 21.So as to avoid the first cycloid disc 11, the second cycloid disc
21 directly contact, and hinder the relative motion between the first cycloid disc 11, the second cycloid disc 21.
In the present embodiment, connector 40 be it is multiple, along the circumferentially distributed of eccentric shaft 30, to enable the first cycloid disc 11
Active force is applied to the second cycloid disc 21 by multiple connectors 40, more preferably to drive the second cycloid disc 21 to walk around certainly with identical
Speed does cycloid motion.
3rd embodiment
Referring to Fig. 7, Fig. 8, the present embodiment and first embodiment the difference is that: connector 40 is disk-like structure, if
It sets between the first cycloid disc 11, the second cycloid disc 21, and is sheathed on the periphery of eccentric shaft 30.First cycloid disc 11 is equipped with the
One limited block group, two the first limited block 11c in the first limited block group are oppositely arranged to form first sliding groove 11d；Connector 40
It is equipped with the first sliding block 43, the first sliding block 43 is suitable for sliding in first sliding groove 11d along the first radial direction x.Second cycloid disc
21 are equipped with the second limited block group, and two the second limited block 21c in the second limited block group are oppositely arranged to form second sliding slot
21d；Connector 40 is equipped with the second sliding block 44, and the second sliding block 44 is suitable for sliding along the second radial direction y in second sliding slot 21d
It moves.
Wherein, the first radial direction x is perpendicular to the second radial direction y.
When the first cycloid disc 11 does cycloid motion, the rotation of the first cycloid disc 11 can drive second by connector 40
Cycloid disc 21 does cycloid motion with identical rotation revolving speed.
In addition, connector 40 between the first cycloid disc 11, the second cycloid disc 21, is suitable for segmentation 11 He of the first cycloid disc
Second cycloid disc 21 makes have axial gap between the first cycloid disc 11 and the second cycloid disc 21.So as to avoid the first pendulum
Drum 11, the second cycloid disc 21 directly contact, and hinder the relative motion between the first cycloid disc 11, the second cycloid disc 21.
In the present embodiment, is set on the first cycloid disc 11 there are two the first limited block group, be respectively formed two first sliding grooves
11d, two first sliding groove 11d are located at the two sides of eccentric shaft 30, and the extending direction of two first sliding groove 11d passes through first
The center of cycloid disc 11.Correspondingly, setting on connector 40, there are two the first sliding blocks 43, are located at the two sides of eccentric shaft 30, right
Two first sliding groove 11d are answered, and the extending direction of two the first sliding blocks 43 passes through the center of connector 40.
Two the first sliding blocks 43 extend along the first radial direction x, so that the first sliding block 43 can be sliding corresponding first
It is slid in slot 11d along the first radial direction x.
Likewise, set on the second cycloid disc 21 there are two the second limited block group, it is respectively formed two second sliding slot 21d, two
A second sliding slot 21d is located at the two sides of eccentric shaft 30, and the extending direction of two second sliding slot 21d passes through the second cycloid disc
21 center.Correspondingly, being set on connector 40 there are two the second sliding block 44, the two sides of eccentric shaft 30 are located at, it is two corresponding
Second sliding slot 21d, and the extending direction of two the second sliding blocks 44 passes through the center of connector 40.
Two the second sliding blocks 44 extend along the second radial direction y, so that the second sliding block 44 can be sliding corresponding second
It is slid in slot 21d along the second radial direction y.
As shown in figure 8, connector 40 includes ring part 45, ring part 45 is sheathed on the periphery of eccentric shaft 30, two first
Sliding block 43 is symmetrically set to the outer peripheral surface of ring part 45, and two the second sliding blocks 44 are symmetrically set to the periphery of ring part 45
Face.
It should be appreciated that by the corresponding two first sliding groove 11d of setting and two the first sliding blocks 43, corresponding two second
Sliding slot 21d and two the second sliding blocks 44, so as to make the first cycloid disc 11 more preferably the second cycloid disc 21 of driving with it is identical from
Speed of walking around does cycloid motion.In other variations, a first sliding groove 11d can also be only set on the first cycloid disc 11,
One second sliding slot 21d is only set on the second cycloid disc 21.
In addition, first sliding groove 11d can not only be formed by two the first limited block 11c being oppositely arranged, it can also be direct
It processes and obtains on the first cycloid disc 11.At this point it is possible to limit the extending direction of first sliding groove 11d as the first radial direction x.Together
Sample, second sliding slot 21d can not only be formed by two the second limited block 21c being oppositely arranged, can also be directly in the second pendulum
Processing obtains on drum 21.At this point it is possible to limit the extending direction of second sliding slot 21d as the second radial direction y.
In the present embodiment, as shown in fig. 7, having gap, the clearance fit between the first eccentric part 31, the second eccentric part 32
In the thickness of connector 40, enable connector 40 between the first eccentric part 31, the second eccentric part 32.In installation process
In, connector 40 is preferably arranged.
It is similar with first embodiment referring to Fig. 7, Fig. 9, first is equipped between the first cycloid disc 11, the first eccentric part 31
Bearing 51 is equipped with second bearing 52, in the second pin wheel housing 23, eccentric shaft 30 between the second cycloid disc 21, the second eccentric part 32
Between be additionally provided with 3rd bearing 53, be additionally provided with fourth bearing 54 between the second pin wheel housing 23, outer housing 60, cover board 62, partially
5th bearing 55 is additionally provided between mandrel 30.Wherein, the inner peripheral surface of outer housing 60 is equipped with the first needle tooth socket 14, that is to say, that
First pin wheel housing 13 is the outer housing 60.
Further, it is additionally provided with oil sealing 61 between outer housing 60 and the second pin wheel housing 23, to avoid needle tooth cycloidal reducer
Oil leakage inside 100 is to the external world.In the present embodiment, it is additionally provided with retaining ring 64 between outer housing 60 and oil sealing 61, locks
Tight ring 64 fits in fourth bearing 54, to carry out axial pretightening to fourth bearing 54, prevents fourth bearing 54 from axial float occurs.
Needle tooth cycloidal reducer 100 further includes two locating parts 25, and two locating parts 25 are to be set in 30 periphery of eccentric shaft
Annular partition, the axial sides of the second needle tooth socket 24 are separately positioned on, to prevent the second needle tooth 22 along axially sliding second
Needle tooth socket 24.
Fourth embodiment
Referring to Fig.1 0, the present embodiment and 3rd embodiment the difference is that: it is sliding that the first cycloid disc 11 is equipped with first
Block 11m, connector 40 are equipped with the first sliding groove 47 being correspondingly arranged with the first sliding block 11m, and the first sliding block 11m is suitable for sliding first
It is slid in slot 47 along the first radial direction x.Second cycloid disc 21 is equipped with the second sliding block 21m, and connector 40 is equipped with and second
The second sliding slot 48 that sliding block 21m is correspondingly arranged, the second sliding block 21m are suitable for sliding in second sliding slot 48 along the second radial direction y.
Wherein, the first radial direction x is perpendicular to the second radial direction y.
When the first cycloid disc 11 does cycloid motion, the rotation of the first cycloid disc 11 can drive second by connector 40
Cycloid disc 21 does cycloid motion with identical rotation revolving speed.
In addition, connector 40 between the first cycloid disc 11, the second cycloid disc 21, is suitable for segmentation 11 He of the first cycloid disc
Second cycloid disc 21, so as to avoid the first cycloid disc 11, the second cycloid disc 21 from directly contacting, the first cycloid disc 11 of obstruction,
Relative motion between second cycloid disc 21.
In the present embodiment, set that there are two the first sliding block 11m, two the first sliding block 11m to be located on the first cycloid disc 11
The two sides of eccentric shaft 30, two the first sliding block 11m are pin, and the center line connecting direction of two the first sliding block 11m is by the
The center of one cycloid disc 11.Correspondingly, setting on connector 40, there are two first sliding grooves 47, and two first sliding grooves 47 are along the first diameter
Extend to direction x, and is located at the two sides of eccentric shaft 30, corresponding two the first sliding block 11m, the extension of two first sliding grooves 47
The center of connector 40 is passed through in direction.
Bias is located at there are two the second sliding block 21m, two the second sliding block 21m likewise, setting on the second cycloid disc 21
The two sides of axis 30, two the second sliding block 21m are pin, and the center line connecting direction of two the second sliding block 21m is by the second pendulum
The center of drum 21.Correspondingly, setting on connector 40, there are two second sliding slots 48, and two second sliding slots 48 are along the second radial direction side
Extend to y, and is located at the two sides of eccentric shaft 30, corresponding two the second sliding block 21m, the extending direction of two second sliding slots 48
By the center of connector 40.
The second cycloid disc 21 of driving of the first cycloid disc of the present embodiment 11 does the principle and needle tooth cycloid reduction of cycloid motion
The specific structure of device is referred to 3rd embodiment, repeats no more.
It should be noted that in the third embodiment, the first sliding block 43, the second sliding block 44 are all set in connector 40, the
One sliding slot 11d, second sliding slot 21d are respectively arranged at the first cycloid disc 11, the second cycloid disc 21.In the fourth embodiment, first
Sliding block 11m, the second sliding block 21m are respectively arranged at the first cycloid disc 11, the second cycloid disc 21, first sliding groove 47, second sliding slot 48
It is all set in connector 40.
In other variations, the first sliding block, second sliding slot can also be made to be all set in connector 40, and make first to slide
Slot, the second sliding block are respectively arranged at the first cycloid disc 11, the second cycloid disc 21.Alternatively, being respectively provided with the second sliding block, first sliding groove
In connector 40, and second sliding slot, the first sliding block is made to be respectively arranged at the second cycloid disc 21, the first cycloid disc 11.This is not influenced
The implementation of technical solution.
Although the utility model discloses as above, the utility model is not limited to this.Anyone skilled in the art,
It does not depart from the spirit and scope of the utility model, can make various changes or modifications, therefore the protection scope of the utility model
It should be defined by the scope defined by the claims..
Claims (15)
1. a kind of needle tooth cycloidal reducer, comprising:
Axially disposed the first gerotor structure, the second gerotor structure；Wherein, each gerotor structure include: it is radial from inside to outside
Cycloid disc, several circumferentially distributed the needle teeth and pin wheel housing set gradually；The needle tooth is rotatably affixed to the pin wheel housing,
The cycloid disc is engaged in the needle tooth；
All pin wheel housing coaxial arrangements；It is characterized by further comprising:
Eccentric shaft has axially disposed the first eccentric part and the second eccentric part, first eccentric part and the second eccentric part
Eccentric phase is opposite, eccentricity is identical；First gerotor structure is sheathed on first eccentric part, the second cycloid knot
Structure is sheathed on second eccentric part；
Connector connects the second cycloid in the first cycloid disc and second gerotor structure in first gerotor structure
Disk, so that the first cycloid disc, the second cycloid disc can do cycloid motion by the connector with identical rotation revolving speed；
When eccentric shaft rotation, the first cycloid disc in first gerotor structure rotates first jiao relative to the first pin wheel housing
α is spent, the second cycloid disc in second gerotor structure rotates second angle β, first angle α, second relative to the second pin wheel housing
Angle beta meets: α ≠ β.
2. needle tooth cycloidal reducer as described in claim 1, which is characterized in that in first cycloid disc, the second cycloid disc
One of them be fixed with the connector, another be equipped with receiving hole corresponding with the connector, the connector shaft
To extending in the receiving hole；
The aperture of the receiving hole meets: D=D0+4 × e+ △；
Wherein, D indicates the aperture of receiving hole, and D0 indicates that the outer diameter of connector, e indicate that the eccentricity of the first eccentric part, △ indicate
Tolerance margins.
3. needle tooth cycloidal reducer as claimed in claim 2, which is characterized in that the connector is coupling pin.
4. needle tooth cycloidal reducer as claimed in claim 2, which is characterized in that be fixed on first cycloid disc along week
To multiple connectors of distribution, second cycloid disc is equipped with circumferentially distributed multiple receiving holes.
5. needle tooth cycloidal reducer as described in claim 1, which is characterized in that the connector be include successively being set along axial direction
The first linkage section and the second linkage section set, first linkage section are rotatably arranged on first cycloid disc, and described
Two linkage sections are rotatably arranged on second cycloid disc；
First linkage section, the second linkage section axially extend, and not on the same line；In first linkage section
The distance between central axes of axis, the second linkage section are equal to the eccentricity.
6. needle tooth cycloidal reducer as claimed in claim 5, which is characterized in that the connector further includes setting described the
Shaft shoulder portion between one linkage section, the second linkage section, the shaft shoulder portion is between first cycloid disc, the second cycloid disc.
7. needle tooth cycloidal reducer as claimed in claim 5, which is characterized in that the connector is multiple, multiple companies
Fitting is circumferentially distributed along the eccentric shaft.
8. needle tooth cycloidal reducer as described in claim 1, which is characterized in that the connector is arranged in first cycloid
Between disk and the second cycloid disc and it is sheathed on the periphery of the eccentric shaft；
In the connector, the first cycloid disc one of them be equipped with the first sliding block, another be equipped with first sliding groove, described first
Sliding block is suitable for sliding in the first sliding groove along the first radial direction；
In the connector, the second cycloid disc one of them be equipped with the second sliding block, another be equipped with second sliding slot, described second
Sliding block is suitable for sliding in the second sliding slot along the second radial direction；
Wherein, first radial direction is perpendicular to second radial direction.
9. needle tooth cycloidal reducer as claimed in claim 8, which is characterized in that first cycloid disc is towards the connector
Face be equipped at least one first limited block group, two the first limited blocks in the first limited block group are oppositely arranged to be formed
The first sliding groove；
Second cycloid disc is equipped at least one second limited block group, second limited block towards the face of the connector
Two the second limited blocks in group are oppositely arranged to form the second sliding slot.
10. needle tooth cycloidal reducer as claimed in claim 8, which is characterized in that the connector is equipped with along described first
Radial direction extend at least one described first sliding block and along second radial direction extend at least one described second
Sliding block.
11. needle tooth cycloidal reducer as claimed in claim 10, which is characterized in that the connector includes ring part, described
Ring part is sheathed on the periphery of the eccentric shaft；
First sliding block is two, is symmetrically set to the outer peripheral surface of the ring part；Second sliding block is two, symmetrically
The outer peripheral surface for being set to the ring part.
12. needle tooth cycloidal reducer as claimed in claim 8, which is characterized in that the connector is equipped with along described first
Radial direction extend at least one described first sliding groove and along second radial direction extend at least one described second
Sliding slot.
13. needle tooth cycloidal reducer as claimed in claim 8, which is characterized in that the first sliding groove is two, is symmetrically set
It is placed in the two sides of the eccentric shaft；The second sliding slot is two, is symmetrically set to the two sides of the eccentric shaft.
14. such as the described in any item needle tooth cycloidal reducers of claim 8-13, which is characterized in that first eccentric part, the
Two eccentric parts have gap in the axial direction, and the connector is arranged between first eccentric part, the second eccentric part.
15. a kind of industrial robot, comprising: power source and executing agency, which is characterized in that further include claim 1-14 any
Needle tooth cycloidal reducer described in, the needle tooth cycloidal reducer is fixed between power source, executing agency, for dropping
The revolving speed in low dynamics source is to export to the executing agency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820793329.1U CN208203924U (en) | 2018-05-25 | 2018-05-25 | Needle tooth cycloidal reducer and industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820793329.1U CN208203924U (en) | 2018-05-25 | 2018-05-25 | Needle tooth cycloidal reducer and industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208203924U true CN208203924U (en) | 2018-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820793329.1U Active CN208203924U (en) | 2018-05-25 | 2018-05-25 | Needle tooth cycloidal reducer and industrial robot |
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| Country | Link |
|---|---|
| CN (1) | CN208203924U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019223059A1 (en) * | 2018-05-25 | 2019-11-28 | 昆山光腾智能机械有限公司 | Cycloidal needle gear speed reducer and industrial robot |
-
2018
- 2018-05-25 CN CN201820793329.1U patent/CN208203924U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019223059A1 (en) * | 2018-05-25 | 2019-11-28 | 昆山光腾智能机械有限公司 | Cycloidal needle gear speed reducer and industrial robot |
| CN110529559A (en) * | 2018-05-25 | 2019-12-03 | 昆山光腾智能机械有限公司 | Needle tooth cycloidal reducer and industrial robot |
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